diff --git a/patch/ros-lyrical-realsense2-camera.patch b/patch/ros-lyrical-realsense2-camera.patch
new file mode 100644
index 00000000..6e80106c
--- /dev/null
+++ b/patch/ros-lyrical-realsense2-camera.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 920fa1d..30d14a2 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -40,7 +40,7 @@ if(UNIX OR APPLE)
+     # GCC specific flags. ICC is compatible with them.
+     set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z noexecstack -z relro -z now")
+     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -z noexecstack -z relro -z now")
+-  elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
++  elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang" AND NOT APPLE)
+     # In Clang, -z flags are not compatible, they need to be passed to linker via -Wl.
+     set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
diff --git a/vinca.yaml b/vinca.yaml
index 85deac0f..e042019a 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -337,8 +337,6 @@ packages_select_by_deps:
       - navmap_rviz_plugin
       - navmap_tools
       - py_binding_tools
-      - realsense2_camera
-      - realsense2_description
       - rmf_demos
       - rosidlcpp  # 'from_chars' is unavailable
       - sdl2_vendor
@@ -420,6 +418,8 @@ packages_select_by_deps:
       - point_cloud_transport_plugins  # Not yet supported on Windows
       - pointcloud-to-laserscan
       - rclc_examples  # MSVC C2055 on rcl_timer_t in callback signatures; root cause unresolved, already excluded on humble too
+      - realsense2_camera
+      - realsense2_description
       - rosbag2_performance_benchmarking  # its _msgs' Python typesupport hits MSVC C1083 on win-64
       - rplidar_ros
       - rqt_action