diff --git a/package_fix/libphidget22/0-libphidget22-change-cmake-download.patch b/package_fix/libphidget22/0-libphidget22-change-cmake-download.patch
new file mode 100644
index 0000000000000000000000000000000000000000..4412cf5bda2bd1a41976ba8ff57b101b2a3a65f1
--- /dev/null
+++ b/package_fix/libphidget22/0-libphidget22-change-cmake-download.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8d79cab..bfb222a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -7,7 +7,7 @@ set(extra_c_flags "-g -O2 -Wno-incompatible-pointer-types -Wno-deprecated-declar
+ 
+ include(ExternalProject)
+ ExternalProject_Add(EP_${PROJECT_NAME}
+-    URL https://www.phidgets.com/downloads/phidget22/libraries/linux/libphidget22/libphidget22-1.13.20230224.tar.gz
++    URL ${CMAKE_CURRENT_SOURCE_DIR}/libphidget22-1.13.20230224.tar.gz
+     URL_MD5 e34f6bf266562d1950a82067ab5beaa9
+ 
+     PATCH_COMMAND patch -p1 < ${CMAKE_CURRENT_SOURCE_DIR}/patch/libphidget22-1.13.20230224-fix-warnings.patch
diff --git a/package_fix/libphidget22/libphidget22-1.13.20230224.tar.gz b/package_fix/libphidget22/libphidget22-1.13.20230224.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..de7afa3a668d9877bb6cc4a71a021227397ab0e7
Binary files /dev/null and b/package_fix/libphidget22/libphidget22-1.13.20230224.tar.gz differ
diff --git a/package_fix/libphidget22/prep.fix b/package_fix/libphidget22/prep.fix
new file mode 100644
index 0000000000000000000000000000000000000000..f5881bc920fe62c102d3779689c602c1bc5b7244
--- /dev/null
+++ b/package_fix/libphidget22/prep.fix
@@ -0,0 +1 @@
+cp %{SOURCE1} .
diff --git a/package_fix/libphidget22/source.fix b/package_fix/libphidget22/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..36f4b35651f5669331ca0213fcbf475fc6261f0e
--- /dev/null
+++ b/package_fix/libphidget22/source.fix
@@ -0,0 +1,3 @@
+Source1:        libphidget22-1.13.20230224.tar.gz
+
+Patch0:         0-libphidget22-change-cmake-download.patch
diff --git a/package_fix/osqp-vendor/0-osqp-vendor-change-cmake-download.patch b/package_fix/osqp-vendor/0-osqp-vendor-change-cmake-download.patch
new file mode 100644
index 0000000000000000000000000000000000000000..bc5bc6fba57c55e1b6daa68e72b61f7a71e61468
--- /dev/null
+++ b/package_fix/osqp-vendor/0-osqp-vendor-change-cmake-download.patch
@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b17c512..ef7a27f 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -21,9 +21,7 @@ macro(build_osqp)
+ 
+   include(ExternalProject)
+   externalproject_add(osqp-${git_tag}
+-    GIT_REPOSITORY https://github.com/osqp/osqp.git
+-    GIT_TAG ${git_tag}
+-    GIT_SHALLOW ON
++    URL ${CMAKE_SOURCE_DIR}/osqp-${git_tag}.tar.gz
+     TIMEOUT 60
+     # Suppress git update due to https://gitlab.kitware.com/cmake/cmake/-/issues/16419
+     UPDATE_COMMAND ""
diff --git a/package_fix/osqp-vendor/osqp-v0.6.2.tar.gz b/package_fix/osqp-vendor/osqp-v0.6.2.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..d0e8de00689678c408575d4c48301b86def3d8b9
Binary files /dev/null and b/package_fix/osqp-vendor/osqp-v0.6.2.tar.gz differ
diff --git a/package_fix/osqp-vendor/prep.fix b/package_fix/osqp-vendor/prep.fix
new file mode 100644
index 0000000000000000000000000000000000000000..f5881bc920fe62c102d3779689c602c1bc5b7244
--- /dev/null
+++ b/package_fix/osqp-vendor/prep.fix
@@ -0,0 +1 @@
+cp %{SOURCE1} .
diff --git a/package_fix/osqp-vendor/source.fix b/package_fix/osqp-vendor/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..012b40be15c700876640e3964782edef6b478286
--- /dev/null
+++ b/package_fix/osqp-vendor/source.fix
@@ -0,0 +1,3 @@
+Source1:        osqp-v0.6.2.tar.gz
+
+Patch0:         0-osqp-vendor-change-cmake-download.patch
diff --git a/package_fix/performance-test/0-performance-test-change-cmake-download.patch b/package_fix/performance-test/0-performance-test-change-cmake-download.patch
new file mode 100644
index 0000000000000000000000000000000000000000..f24f998d2c8e483894e2fa03a37d183d08f813e4
--- /dev/null
+++ b/package_fix/performance-test/0-performance-test-change-cmake-download.patch
@@ -0,0 +1,48 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a31964b..73394bb 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -323,9 +323,7 @@ include(ExternalProject)
+ set(EXTERNAL_INSTALL_LOCATION ${CMAKE_BINARY_DIR}/external)
+ externalproject_add(
+   tclap
+-  GIT_REPOSITORY http://git.code.sf.net/p/tclap/code
+-  GIT_TAG 1.4.0-rc1
+-  GIT_SHALLOW TRUE
++  URL ${CMAKE_SOURCE_DIR}/tclap-1.4.0-rc1.tar.gz
+   PREFIX ${EXTERNAL_INSTALL_LOCATION}
+   SOURCE_DIR ${EXTERNAL_INSTALL_LOCATION}/tclap
+   CMAKE_COMMAND ""
+@@ -338,9 +336,7 @@ include_directories(SYSTEM ${EXTERNAL_INSTALL_LOCATION}/tclap/include)
+ 
+ externalproject_add(
+   rapidjson
+-  GIT_REPOSITORY https://github.com/Tencent/rapidjson.git
+-  GIT_TAG v1.1.0
+-  GIT_SHALLOW TRUE
++  URL ${CMAKE_SOURCE_DIR}/rapidjson-v1.1.0.tar.gz
+   PREFIX ${EXTERNAL_INSTALL_LOCATION}
+   SOURCE_DIR ${EXTERNAL_INSTALL_LOCATION}/rapidjson
+   CMAKE_COMMAND ""
+@@ -357,9 +353,7 @@ include_directories(SYSTEM ${EXTERNAL_INSTALL_LOCATION}/rapidjson/include)
+ 
+ externalproject_add(
+   tabulate
+-  GIT_REPOSITORY https://github.com/p-ranav/tabulate.git
+-  GIT_TAG v1.4
+-  GIT_SHALLOW TRUE
++  URL ${CMAKE_SOURCE_DIR}/tabulate-v1.4.tar.gz
+   PREFIX ${EXTERNAL_INSTALL_LOCATION}
+   SOURCE_DIR ${EXTERNAL_INSTALL_LOCATION}/tabulate
+   PATCH_COMMAND sed -i "39d" "${EXTERNAL_INSTALL_LOCATION}/tabulate/include/tabulate/column.hpp"
+@@ -379,9 +373,7 @@ include_directories(SYSTEM ${EXTERNAL_INSTALL_LOCATION}/tabulate/include)
+ 
+ externalproject_add(
+   sole
+-  GIT_REPOSITORY https://github.com/r-lyeh-archived/sole.git
+-  GIT_TAG 1.0.2
+-  GIT_SHALLOW TRUE
++  URL ${CMAKE_SOURCE_DIR}/sole-1.0.2.tar.gz
+   PREFIX ${EXTERNAL_INSTALL_LOCATION}
+   SOURCE_DIR ${EXTERNAL_INSTALL_LOCATION}/sole
+   PATCH_COMMAND patch
diff --git a/package_fix/performance-test/prep.fix b/package_fix/performance-test/prep.fix
new file mode 100644
index 0000000000000000000000000000000000000000..65c2e5b67531670cc38a935cf1baae5b75060978
--- /dev/null
+++ b/package_fix/performance-test/prep.fix
@@ -0,0 +1 @@
+cp %{SOURCE1} %{SOURCE2} %{SOURCE3} %{SOURCE4} .
diff --git a/package_fix/performance-test/rapidjson-v1.1.0.tar.gz b/package_fix/performance-test/rapidjson-v1.1.0.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..77682f2c2578a0c53fec1763f34dc7b9a7ad467c
Binary files /dev/null and b/package_fix/performance-test/rapidjson-v1.1.0.tar.gz differ
diff --git a/package_fix/performance-test/sole-1.0.2.tar.gz b/package_fix/performance-test/sole-1.0.2.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..e1b170982c0f0c0f7c8c5e3b1f129a4ee1914dc8
Binary files /dev/null and b/package_fix/performance-test/sole-1.0.2.tar.gz differ
diff --git a/package_fix/performance-test/source.fix b/package_fix/performance-test/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..c6158cefa373036b8ddb81e6d4270429412c2546
--- /dev/null
+++ b/package_fix/performance-test/source.fix
@@ -0,0 +1,6 @@
+Source1:        tclap-1.4.0-rc1.tar.gz
+Source2:        rapidjson-v1.1.0.tar.gz
+Source3:        tabulate-v1.4.tar.gz
+Source4:        sole-1.0.2.tar.gz
+
+Patch0:         0-performance-test-change-cmake-download.patch
diff --git a/package_fix/performance-test/tabulate-v1.4.tar.gz b/package_fix/performance-test/tabulate-v1.4.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..85571db3bb36e06c29d7b947d778ddfb45554c2e
Binary files /dev/null and b/package_fix/performance-test/tabulate-v1.4.tar.gz differ
diff --git a/package_fix/performance-test/tclap-1.4.0-rc1.tar.gz b/package_fix/performance-test/tclap-1.4.0-rc1.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..3d82faf9f0e46d499b0c4d1b78cba789a8698f86
Binary files /dev/null and b/package_fix/performance-test/tclap-1.4.0-rc1.tar.gz differ
diff --git a/package_fix/pybind11-json-vendor/0-pybind11-json-vendor-change-cmake-download.patch b/package_fix/pybind11-json-vendor/0-pybind11-json-vendor-change-cmake-download.patch
new file mode 100644
index 0000000000000000000000000000000000000000..1be9ba60dd89b1619ca1a2896d139968e9ceaf7e
--- /dev/null
+++ b/package_fix/pybind11-json-vendor/0-pybind11-json-vendor-change-cmake-download.patch
@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 733471d..eed3268 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -23,9 +23,7 @@ if(NOT pybind11_json_FOUND)
+   include(ExternalProject)
+   set(pybind11_json_version 0fbbe3bbb27bd07a5ec7d71cbb1f17eaf4d37702)
+   ExternalProject_Add(pybind11_json-${pybind11_json_version}
+-    GIT_REPOSITORY https://github.com/pybind/pybind11_json.git
+-    GIT_TAG ${pybind11_json_version}
+-    GIT_CONFIG advice.detachedHead=false
++    URL ${CMAKE_CURRENT_SOURCE_DIR}/pybind11_json-${pybind11_json_version}.tar.gz
+     # Suppress git update due to https://gitlab.kitware.com/cmake/cmake/-/issues/16419
+     UPDATE_COMMAND ""
+     CMAKE_ARGS
diff --git a/package_fix/pybind11-json-vendor/prep.fix b/package_fix/pybind11-json-vendor/prep.fix
new file mode 100644
index 0000000000000000000000000000000000000000..f5881bc920fe62c102d3779689c602c1bc5b7244
--- /dev/null
+++ b/package_fix/pybind11-json-vendor/prep.fix
@@ -0,0 +1 @@
+cp %{SOURCE1} .
diff --git a/package_fix/pybind11-json-vendor/pybind11_json-0fbbe3bbb27bd07a5ec7d71cbb1f17eaf4d37702.tar.gz b/package_fix/pybind11-json-vendor/pybind11_json-0fbbe3bbb27bd07a5ec7d71cbb1f17eaf4d37702.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..603e869158d8ad905db15c6d4103e633e3b1d5ae
Binary files /dev/null and b/package_fix/pybind11-json-vendor/pybind11_json-0fbbe3bbb27bd07a5ec7d71cbb1f17eaf4d37702.tar.gz differ
diff --git a/package_fix/pybind11-json-vendor/source.fix b/package_fix/pybind11-json-vendor/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..f894d9bc170914cc41a377a61fe2a2e9bbbb57fa
--- /dev/null
+++ b/package_fix/pybind11-json-vendor/source.fix
@@ -0,0 +1,3 @@
+Source1:        pybind11_json-0fbbe3bbb27bd07a5ec7d71cbb1f17eaf4d37702.tar.gz
+
+Patch0:         0-pybind11-json-vendor-change-cmake-download.patch
diff --git a/package_fix/zenoh-bridge-dds/prep.fix b/package_fix/zenoh-bridge-dds/prep.fix
new file mode 100644
index 0000000000000000000000000000000000000000..86179d4f7dc31c1b68e52294b28868a3b56b395c
--- /dev/null
+++ b/package_fix/zenoh-bridge-dds/prep.fix
@@ -0,0 +1 @@
+tar -xzf %{SOURCE1}
diff --git a/package_fix/zenoh-bridge-dds/source.fix b/package_fix/zenoh-bridge-dds/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..36d13b07bef91f0cd7f594ac5e5177c084235298
--- /dev/null
+++ b/package_fix/zenoh-bridge-dds/source.fix
@@ -0,0 +1 @@
+Source1:        zenoh-bridge-dds-cargo-vendor.tar.gz
diff --git a/package_fix/zenoh-bridge-dds/zenoh-bridge-dds-cargo-vendor.tar.gz b/package_fix/zenoh-bridge-dds/zenoh-bridge-dds-cargo-vendor.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..2001cc1ab6ca3960eace4bbb253287de12727930
Binary files /dev/null and b/package_fix/zenoh-bridge-dds/zenoh-bridge-dds-cargo-vendor.tar.gz differ
diff --git a/spec_fix/libphidget22.Requires b/spec_fix/libphidget22.Requires
new file mode 100644
index 0000000000000000000000000000000000000000..62ef989e681d5aaa3f7b30b92db1b844605237c0
--- /dev/null
+++ b/spec_fix/libphidget22.Requires
@@ -0,0 +1,2 @@
+-libusb-1.0
++libusbx
diff --git a/spec_fix/rc-dynamics-api.BuildRequires b/spec_fix/rc-dynamics-api.BuildRequires
new file mode 100644
index 0000000000000000000000000000000000000000..5c3d3f1e3282dbdc49d35dd888200b73cca6e3b8
--- /dev/null
+++ b/spec_fix/rc-dynamics-api.BuildRequires
@@ -0,0 +1,2 @@
++openssl-devel
++libcurl-devel
diff --git a/spec_fix/rc-dynamics-api.Requires b/spec_fix/rc-dynamics-api.Requires
new file mode 100644
index 0000000000000000000000000000000000000000..22606ab59df006184dd30da995356e8acb7d2a34
--- /dev/null
+++ b/spec_fix/rc-dynamics-api.Requires
@@ -0,0 +1,2 @@
++openssl
++libcurl
diff --git a/spec_fix/robotraconteur.BuildRequires b/spec_fix/robotraconteur.BuildRequires
new file mode 100644
index 0000000000000000000000000000000000000000..f0a06033836855d4c15a08502809d8a2e71c2f02
--- /dev/null
+++ b/spec_fix/robotraconteur.BuildRequires
@@ -0,0 +1 @@
++gmock
diff --git a/spec_fix/robotraconteur.Requires b/spec_fix/robotraconteur.Requires
new file mode 100644
index 0000000000000000000000000000000000000000..f0a06033836855d4c15a08502809d8a2e71c2f02
--- /dev/null
+++ b/spec_fix/robotraconteur.Requires
@@ -0,0 +1 @@
++gmock
diff --git a/template/cmake-ubuntu.spec b/template/cmake-ubuntu.spec
index bd6486614c49ad1d8f781b9b15639df4155aed8d..877de1bc1cf748714a55663e993220fcb4922f74 100644
--- a/template/cmake-ubuntu.spec
+++ b/template/cmake-ubuntu.spec
@@ -44,6 +44,9 @@ ROS_PREP_FIX
 # Needed to bootstrap since the ros_workspace package does not yet exist.
 export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
 
+export ROS_DISTRO=%{ros_distro}
+export ROS_PYTHON_VERSION=%{python3_version}
+
 # In case we're installing to a non-standard location, look for a setup.sh
 # in the install tree and source it.  It will set things like
 # CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.