diff --git a/patch/ros-kilted-rosidl-generator-py.osx.patch b/patch/ros-kilted-rosidl-generator-py.osx.patch
deleted file mode 100644
index c93e3cf8c..000000000
--- a/patch/ros-kilted-rosidl-generator-py.osx.patch
+++ /dev/null
@@ -1,69 +0,0 @@
-diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
-index de6a6c65..62093e4a 100644
---- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
-+++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
-@@ -152,7 +152,7 @@ set_property(
- 
- set(_target_name_lib "${rosidl_generate_interfaces_TARGET}__rosidl_generator_py")
- add_library(${_target_name_lib} SHARED ${_generated_c_files})
--target_link_libraries(${_target_name_lib} PRIVATE
-+target_link_libraries(${_target_name_lib} PUBLIC
-   ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c)
- add_dependencies(
-   ${_target_name_lib}
-@@ -160,11 +160,6 @@ add_dependencies(
-   ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
- )
- 
--target_link_libraries(
--  ${_target_name_lib} PRIVATE
--  Python3::NumPy
--  Python3::Python
--)
- target_include_directories(${_target_name_lib}
-   PRIVATE
-   ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
-@@ -176,8 +171,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-   set(_extension_compile_flags -Wall -Wextra)
- endif()
- 
-+if(APPLE)
-+  target_link_libraries(${_target_name_lib} PRIVATE Python3::NumPy Python3::Module)
-+  target_include_directories(${_target_name_lib} PRIVATE ${Python3_INCLUDE_DIRS} ${Python3_NumPy_INCLUDE_DIRS})
-+else()
-+  target_link_libraries(${_target_name_lib} PUBLIC Python3::NumPy Python3::Python)
-+endif()
-+
- rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c")
--target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target})
-+target_link_libraries(${_target_name_lib} PUBLIC ${c_typesupport_target})
- 
- foreach(_typesupport_impl ${_typesupport_impls})
-   find_package(${_typesupport_impl} REQUIRED)
-@@ -210,7 +212,7 @@ foreach(_typesupport_impl ${_typesupport_impls})
-     RUNTIME_OUTPUT_DIRECTORY ${_output_path})
- 
-   target_link_libraries(
--    ${_target_name} PRIVATE
-+    ${_target_name} PUBLIC
-     ${_target_name_lib}
-     ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
-     ${c_typesupport_target}
-@@ -226,7 +228,7 @@ foreach(_typesupport_impl ${_typesupport_impls})
-   )
- 
-   foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
--    target_link_libraries(${_target_name} PRIVATE ${${_pkg_name}__TARGETS})
-+    target_link_libraries(${_target_name} PUBLIC ${${_pkg_name}__TARGETS})
-   endforeach()
- 
-   add_dependencies(${_target_name}
-@@ -243,7 +245,7 @@ endforeach()
- 
- # Depend on rosidl_generator_py generated targets from our dependencies
- foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
--  target_link_libraries(${_target_name_lib} PRIVATE ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}})
-+  target_link_libraries(${_target_name_lib} PUBLIC ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}})
- endforeach()
- 
- set_target_properties(${_target_name_lib} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}")
diff --git a/patch/ros-kilted-rosidl-generator-py.patch b/patch/ros-kilted-rosidl-generator-py.patch
new file mode 100644
index 000000000..596594569
--- /dev/null
+++ b/patch/ros-kilted-rosidl-generator-py.patch
@@ -0,0 +1,56 @@
+diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
+index de6a6c6..32eda28 100644
+--- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
++++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
+@@ -35,6 +35,11 @@ set(Python3_FIND_UNVERSIONED_NAMES FIRST)
+ 
+ find_package(Python3 REQUIRED COMPONENTS Interpreter Development NumPy)
+ 
++# The Python C bindings library of an interface package is exported in
++# <pkg>_TARGETS__rosidl_generator_py instead of <pkg>_TARGETS, so that C/C++
++# consumers of the interface package don't link it.
++set(rosidl_generator_py_suffix "__rosidl_generator_py")
++
+ # Get a list of typesupport implementations from valid rmw implementations.
+ rosidl_generator_py_get_typesupports(_typesupport_impls)
+ 
+@@ -160,10 +165,13 @@ add_dependencies(
+   ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
+ )
+ 
++# This library is only linked by Python extension modules, which get the
++# CPython symbols from the interpreter that loads them, so it links
++# Python3::Module rather than libpython (Python3::Python).
+ target_link_libraries(
+   ${_target_name_lib} PRIVATE
+   Python3::NumPy
+-  Python3::Python
++  Python3::Module
+ )
+ target_include_directories(${_target_name_lib}
+   PRIVATE
+@@ -255,9 +263,22 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+     LIBRARY DESTINATION lib
+     RUNTIME DESTINATION bin)
+ 
+-  # Export this target so downstream interface packages can depend on it
++  # Export this target so downstream interface packages can depend on it, in
++  # <pkg>_TARGETS__rosidl_generator_py. Not with ament_export_targets(), which
++  # would also add it to <pkg>_TARGETS: install the export set and include it
++  # from a config extras file instead, which creates the imported target that
++  # rosidl_export_typesupport_targets() adds to the suffixed list.
++  install(
++    EXPORT export_${_target_name_lib}
++    DESTINATION share/${PROJECT_NAME}/cmake
++    NAMESPACE "${PROJECT_NAME}::"
++    FILE "export_${_target_name_lib}Export.cmake")
++  set(_py_extras_file
++    "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py/${_target_name_lib}-extras.cmake")
++  file(WRITE "${_py_extras_file}"
++    "include(\"\${${PROJECT_NAME}_DIR}/export_${_target_name_lib}Export.cmake\")\n")
++  list(APPEND ${PROJECT_NAME}_CONFIG_EXTRAS "${_py_extras_file}")
+   rosidl_export_typesupport_targets("${rosidl_generator_py_suffix}" "${_target_name_lib}")
+-  ament_export_targets(export_${_target_name_lib})
+ endif()
+ 
+ if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
diff --git a/tests/ros-kilted-std-msgs.yaml b/tests/ros-kilted-std-msgs.yaml
index 4dee633a0..2088cfafa 100644
--- a/tests/ros-kilted-std-msgs.yaml
+++ b/tests/ros-kilted-std-msgs.yaml
@@ -8,9 +8,7 @@ tests:
   # (https://github.com/RoboStack/ros-kilted/issues/76).
   # cxx-compiler (unlike compiler('cxx')) sets no LDFLAGS, like a user's
   # environment, so -Wl,--as-needed / -Wl,-dead_strip_dylibs can't hide it.
-  # TODO: back to unix once the osx rosidl_generator_py patch is replaced
-  # with the jazzy/rolling one (needs interface package rebuilds).
-  - if: linux
+  - if: unix
     then:
       script:
         - cmake -S cpp_consumer -B build -G Ninja -DCMAKE_PREFIX_PATH="$PREFIX"