diff --git a/package_fix/mcap-vendor/0-mcap-vendor-change-cmake-download.patch b/package_fix/mcap-vendor/0-mcap-vendor-change-cmake-download.patch
new file mode 100644
index 0000000000000000000000000000000000000000..a2363d4929980f6f12d97d07a961ae63a4761eb2
--- /dev/null
+++ b/package_fix/mcap-vendor/0-mcap-vendor-change-cmake-download.patch
@@ -0,0 +1,21 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 6de89d2..7e94df5 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -32,14 +32,13 @@ endif()
+ macro(build_mcap_vendor)
+   include(FetchContent)
+   fetchcontent_declare(mcap
+-    URL https://github.com/foxglove/mcap/archive/refs/tags/releases/cpp/v0.8.0.tar.gz
++    URL ${CMAKE_CURRENT_SOURCE_DIR}/v0.8.0.tar.gz
+     URL_HASH SHA1=b44637791da2c9c1cec61a3ba6994f1ef63a228c # v0.8.0
+   )
+   fetchcontent_makeavailable(mcap)
+ 
+   fetchcontent_declare(lz4
+-    GIT_REPOSITORY https://github.com/lz4/lz4.git
+-    GIT_TAG d44371841a2f1728a3f36839fd4b7e872d0927d3 # v1.9.3
++    URL ${CMAKE_CURRENT_SOURCE_DIR}/lz4.tar.gz
+   )
+   fetchcontent_makeavailable(lz4)
+ 
diff --git a/package_fix/mcap-vendor/lz4.tar.gz b/package_fix/mcap-vendor/lz4.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..965f2f213b4f065d9e810b01b9f0cdbdbcc09c97
Binary files /dev/null and b/package_fix/mcap-vendor/lz4.tar.gz differ
diff --git a/package_fix/mcap-vendor/prep.fix b/package_fix/mcap-vendor/prep.fix
new file mode 100644
index 0000000000000000000000000000000000000000..36e27f00ceca65114d067607d4f413c8fecae578
--- /dev/null
+++ b/package_fix/mcap-vendor/prep.fix
@@ -0,0 +1,2 @@
+cp %{SOURCE1} .
+cp %{SOURCE2} .
diff --git a/package_fix/mcap-vendor/source.fix b/package_fix/mcap-vendor/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..516814518c9675e0dee685032da3faa23c1b5eb4
--- /dev/null
+++ b/package_fix/mcap-vendor/source.fix
@@ -0,0 +1,4 @@
+Source1:        v0.8.0.tar.gz
+Source2:        lz4.tar.gz
+
+Patch0:         0-mcap-vendor-change-cmake-download.patch
diff --git a/package_fix/mcap-vendor/v0.8.0.tar.gz b/package_fix/mcap-vendor/v0.8.0.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..b00a4b44591ddd38319aa22087f05150e5698a79
Binary files /dev/null and b/package_fix/mcap-vendor/v0.8.0.tar.gz differ
diff --git a/package_fix/sick-safetyscanners-base/0-sick-safetydcanners-base-fix-forget-include-map.patch b/package_fix/sick-safetyscanners-base/0-sick-safetydcanners-base-fix-forget-include-map.patch
new file mode 100644
index 0000000000000000000000000000000000000000..0ec1da4ca6ab1df0bb35b7e73a70e30b6bc08bf3
--- /dev/null
+++ b/package_fix/sick-safetyscanners-base/0-sick-safetydcanners-base-fix-forget-include-map.patch
@@ -0,0 +1,15 @@
+diff --git a/include/sick_safetyscanners_base/data_processing/UDPPacketMerger.h b/include/sick_safetyscanners_base/data_processing/UDPPacketMerger.h
+index b14d925..5cde02c 100644
+--- a/include/sick_safetyscanners_base/data_processing/UDPPacketMerger.h
++++ b/include/sick_safetyscanners_base/data_processing/UDPPacketMerger.h
+@@ -40,6 +40,7 @@
+ 
+ #include "sick_safetyscanners_base/data_processing/ParseDatagramHeader.h"
+ 
++#include <map>
+ #include <algorithm>
+ #include <mutex>
+ 
+-- 
+2.41.0
+
diff --git a/package_fix/sick-safetyscanners-base/source.fix b/package_fix/sick-safetyscanners-base/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..8f0c4c10de3bc774f951a49744eb31ae155b34f8
--- /dev/null
+++ b/package_fix/sick-safetyscanners-base/source.fix
@@ -0,0 +1 @@
+Patch0:         0-sick-safetydcanners-base-fix-forget-include-map.patch
diff --git a/package_fix/sol-vendor/0-sol-vendor-change-cmake-download.patch b/package_fix/sol-vendor/0-sol-vendor-change-cmake-download.patch
new file mode 100644
index 0000000000000000000000000000000000000000..ec6efda9cf24f2822748dcfe954429596f88739e
--- /dev/null
+++ b/package_fix/sol-vendor/0-sol-vendor-change-cmake-download.patch
@@ -0,0 +1,19 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1f41f7a..b244419 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -20,9 +20,10 @@ macro(build_sol)
+ 
+   include(ExternalProject)
+   externalproject_add(sol-ext
+-    GIT_REPOSITORY https://github.com/ThePhD/sol2.git
+-    GIT_TAG main
++    URL ${CMAKE_CURRENT_SOURCE_DIR}/sol2.tar.gz
+     TIMEOUT 6000
++    PATCH_COMMAND patch -p1 < ${CMAKE_CURRENT_SOURCE_DIR}/0-sol2-change-cmake-download.patch
++    COMMAND mv ${CMAKE_CURRENT_SOURCE_DIR}/lua-5.4.4.tar.gz .
+     ${cmake_commands}
+     CMAKE_ARGS
+       ${cmake_configure_args}
+-- 
+2.41.0
diff --git a/package_fix/sol-vendor/0-sol2-change-cmake-download.patch b/package_fix/sol-vendor/0-sol2-change-cmake-download.patch
new file mode 100644
index 0000000000000000000000000000000000000000..30f5875aedf2bd13c4b748f6de39f93f2bf0effb
--- /dev/null
+++ b/package_fix/sol-vendor/0-sol2-change-cmake-download.patch
@@ -0,0 +1,16 @@
+diff --git a/cmake/Packages/FindLuaBuild/LuaVanilla.cmake b/cmake/Packages/FindLuaBuild/LuaVanilla.cmake
+index b95e5a6..d4d8e3f 100644
+--- a/cmake/Packages/FindLuaBuild/LuaVanilla.cmake
++++ b/cmake/Packages/FindLuaBuild/LuaVanilla.cmake
+@@ -95,7 +95,7 @@ endif()
+ 
+ # # Source files for natural build, if we have to go that far
+ # retrieve source files
+-set(LUA_VANILLA_DOWNLOAD_URL https://www.lua.org/ftp/lua-${LUA_VANILLA_VERSION}.tar.gz)
++set(LUA_VANILLA_DOWNLOAD_URL ${CMAKE_SOURCE_DIR}/lua-${LUA_VANILLA_VERSION}.tar.gz)
+ if (LUA_VANILLA_VERSION MATCHES "^5\\.1")
+ 	set(LUA_VANILLA_LIB_SOURCES lapi.c lcode.c ldebug.c ldo.c ldump.c lfunc.c 
+ 		lgc.c llex.c lmem.c lobject.c lopcodes.c lparser.c lstate.c 
+-- 
+2.41.0
+
diff --git a/package_fix/sol-vendor/lua-5.4.4.tar.gz b/package_fix/sol-vendor/lua-5.4.4.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..f33e458126c4fc59807ac847b671fc434b1aa7d3
Binary files /dev/null and b/package_fix/sol-vendor/lua-5.4.4.tar.gz differ
diff --git a/package_fix/sol-vendor/prep.fix b/package_fix/sol-vendor/prep.fix
new file mode 100644
index 0000000000000000000000000000000000000000..398f3cd72c94e9f779103d0905cc5d1c18b0c2ed
--- /dev/null
+++ b/package_fix/sol-vendor/prep.fix
@@ -0,0 +1,3 @@
+cp %{SOURCE1} .
+cp %{SOURCE2} .
+cp %{SOURCE3} .
diff --git a/package_fix/sol-vendor/sol2.tar.gz b/package_fix/sol-vendor/sol2.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..6823ae68b7a655eadf5b9055b89e92d19b2c5e92
Binary files /dev/null and b/package_fix/sol-vendor/sol2.tar.gz differ
diff --git a/package_fix/sol-vendor/source.fix b/package_fix/sol-vendor/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..4476195b225ed0a60f36f8f294e7b8f81602844e
--- /dev/null
+++ b/package_fix/sol-vendor/source.fix
@@ -0,0 +1,5 @@
+Source1:        sol2.tar.gz
+Source2:        lua-5.4.4.tar.gz
+Source3:        0-sol2-change-cmake-download.patch
+
+Patch0:         0-sol-vendor-change-cmake-download.patch
diff --git a/package_fix/usb-cam/0-usb-cam-fix-include-not-found.patch b/package_fix/usb-cam/0-usb-cam-fix-include-not-found.patch
new file mode 100644
index 0000000000000000000000000000000000000000..4f785211b301b1f6532dfe8b17b5b6e5680caeb0
--- /dev/null
+++ b/package_fix/usb-cam/0-usb-cam-fix-include-not-found.patch
@@ -0,0 +1,16 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7643f27..14d333d 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -42,6 +42,8 @@ target_include_directories(${PROJECT_NAME} PUBLIC
+   "include"
+ )
+ 
++include_directories(/usr/include/ffmpeg)
++
+ target_link_libraries(${PROJECT_NAME}
+   ${avcodec_LIBRARIES}
+   ${avutil_LIBRARIES}
+-- 
+2.41.0
+
diff --git a/package_fix/usb-cam/source.fix b/package_fix/usb-cam/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..1b9a802a6d0122a084c4672a524f13a3c6fffa2f
--- /dev/null
+++ b/package_fix/usb-cam/source.fix
@@ -0,0 +1 @@
+Patch0:         0-usb-cam-fix-include-not-found.patch
diff --git a/package_fix/velodyne-pointcloud/0-velodyne-pointcloud-fix-yaml-cpp-not-found.patch b/package_fix/velodyne-pointcloud/0-velodyne-pointcloud-fix-yaml-cpp-not-found.patch
new file mode 100644
index 0000000000000000000000000000000000000000..42ace74015637675fac93470550607d3d6914faa
--- /dev/null
+++ b/package_fix/velodyne-pointcloud/0-velodyne-pointcloud-fix-yaml-cpp-not-found.patch
@@ -0,0 +1,16 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 540ae03..d9bbfd4 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -27,7 +27,7 @@ find_package(velodyne_msgs REQUIRED)
+ # Resolve system dependency on yaml-cpp, which apparently does not
+ # provide a CMake find_package() module.
+ find_package(PkgConfig REQUIRED)
+-pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
++find_package(yaml-cpp REQUIRED)
+ find_path(YAML_CPP_INCLUDE_DIR
+   NAMES yaml_cpp.h
+   PATHS ${YAML_CPP_INCLUDE_DIRS})
+-- 
+2.41.0
+
diff --git a/package_fix/velodyne-pointcloud/source.fix b/package_fix/velodyne-pointcloud/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..414af2c26e540a74a10e9c8ff7f47add388c4399
--- /dev/null
+++ b/package_fix/velodyne-pointcloud/source.fix
@@ -0,0 +1 @@
+Patch0:         0-velodyne-pointcloud-fix-yaml-cpp-not-found.Patch0
diff --git a/package_fix/zmqpp-vendor/0-zmqpp-vendor-change-cmake-download.patch b/package_fix/zmqpp-vendor/0-zmqpp-vendor-change-cmake-download.patch
new file mode 100644
index 0000000000000000000000000000000000000000..7ca6c5e820a60338baa772ae0dd3590e7faa1ef7
--- /dev/null
+++ b/package_fix/zmqpp-vendor/0-zmqpp-vendor-change-cmake-download.patch
@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 75f3701..8938ede 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -15,8 +15,7 @@ macro(build_zmqpp)
+ 
+   include(ExternalProject)
+   externalproject_add(cpp-zmqpp-ext
+-    GIT_REPOSITORY https://github.com/zeromq/zmqpp.git
+-    GIT_TAG master
++    URL ${CMAKE_CURRENT_SOURCE_DIR}/zmqpp.tar.gz
+     TIMEOUT 6000
+     ${cmake_commands}
+     CMAKE_ARGS ${cmake_configure_args}
+-- 
+2.41.0
+
diff --git a/package_fix/zmqpp-vendor/prep.fix b/package_fix/zmqpp-vendor/prep.fix
new file mode 100644
index 0000000000000000000000000000000000000000..f5881bc920fe62c102d3779689c602c1bc5b7244
--- /dev/null
+++ b/package_fix/zmqpp-vendor/prep.fix
@@ -0,0 +1 @@
+cp %{SOURCE1} .
diff --git a/package_fix/zmqpp-vendor/source.fix b/package_fix/zmqpp-vendor/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..e970ade4c5299b7d47af1dba1c77a25e8ec93836
--- /dev/null
+++ b/package_fix/zmqpp-vendor/source.fix
@@ -0,0 +1,3 @@
+Source1:        zmqpp.tar.gz
+
+Patch0:         0-zmqpp-vendor-change-cmake-download.patch
diff --git a/package_fix/zmqpp-vendor/zmqpp.tar.gz b/package_fix/zmqpp-vendor/zmqpp.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..740974c3ba3a6ca7f7fe5bc1eaea6f0f1c348bfe
Binary files /dev/null and b/package_fix/zmqpp-vendor/zmqpp.tar.gz differ
diff --git a/spec_fix/spec-type-fix b/spec_fix/spec-type-fix
index 8b137891791fe96927ad78e64b0aad7bded08bdc..4a3842c7e1751ae07c3db668237a988b8470f19f 100644
--- a/spec_fix/spec-type-fix
+++ b/spec_fix/spec-type-fix
@@ -1 +1 @@
-
+rqt-robot-steering py
diff --git a/spec_fix/usb-cam.BuildRequires b/spec_fix/usb-cam.BuildRequires
new file mode 100644
index 0000000000000000000000000000000000000000..c439d35b5fdb57e57baefe699350b3fdf897721d
--- /dev/null
+++ b/spec_fix/usb-cam.BuildRequires
@@ -0,0 +1,2 @@
+-ffmpeg
++ffmpeg-devel