diff --git a/doc/ros_630.txt b/doc/ros_630.txt
index 3d6520cfef431fa08dfd3d29aad8a9c4b0c1290e..e285935d5902bd4517dd8b4726d038e1f7c9acb3 100644
--- a/doc/ros_630.txt
+++ b/doc/ros_630.txt
@@ -278,4 +278,12 @@ vision-opencv
 visualization-msgs
 yaml-cpp-vendor
 ydlidar
-zstd-vendor
\ No newline at end of file
+zstd-vendor
+camera-calibration-parsers
+camera-info-manager
+v4l2-camera
+image-transport
+image-transport-plugins
+compressed-depth-image-transport
+compressed-image-transport
+theora-image-transport
\ No newline at end of file
diff --git a/gen-pkg-spec.sh b/gen-pkg-spec.sh
index 9dc436df7113555ac3855d5c637c6f656f57fd2d..dab5e3e43b12e9d5b786347579854332faa9adda 100755
--- a/gen-pkg-spec.sh
+++ b/gen-pkg-spec.sh
@@ -201,7 +201,7 @@ modify_spec()
         debug_log "gen changelog"
         maintainer=`grep maintainer: ${ROS_DEPS_BASE}/$pkg-PackageXml | awk -F"maintainer:" '{print $2}'`
         #changetime=`date +"%a %b %d %Y"`
-        changetime=`date +"%b %Y"`
+        changetime="Thu May 04 2023"
         changelog="$changetime $maintainer - $base_version-$release_version"
         sed -i "s#ROS_PACKAGE_CHANGELOG#$changelog#g" $spec
 
diff --git a/package_fix/cartographer-ros/cartographer-ros-fix-multiple-definition-error.patch b/package_fix/cartographer-ros/cartographer-ros-fix-multiple-definition-error.patch
new file mode 100644
index 0000000000000000000000000000000000000000..c5c91b3abd06e66c21ef1669d241813dd0fec4ac
--- /dev/null
+++ b/package_fix/cartographer-ros/cartographer-ros-fix-multiple-definition-error.patch
@@ -0,0 +1,23 @@
+--- ros-humble-cartographer-ros-2.0.9000/CMakeLists.txt_org	2023-05-04 15:53:33.555572652 +0800
++++ ros-humble-cartographer-ros-2.0.9000/CMakeLists.txt	2023-05-04 15:54:17.268212997 +0800
+@@ -59,20 +59,13 @@
+ # Library
+ add_library(${PROJECT_NAME}
+   src/assets_writer.cpp
+-  src/assets_writer_main.cpp
+   src/map_builder_bridge.cpp
+   src/msg_conversion.cpp
+   src/node_constants.cpp
+   src/node.cpp
+-  src/node_main.cpp
+   src/node_options.cpp
+-  src/occupancy_grid_node_main.cpp
+   src/offline_node.cpp
+-  src/offline_node_main.cpp
+-  src/pbstream_map_publisher_main.cpp
+-  src/pbstream_to_ros_map_main.cpp
+   src/playable_bag.cpp
+-  src/rosbag_validate_main.cpp
+   src/ros_log_sink.cpp
+   src/ros_map.cpp
+   src/ros_map_writing_points_processor.cpp
diff --git a/package_fix/cartographer-ros/source.fix b/package_fix/cartographer-ros/source.fix
new file mode 100644
index 0000000000000000000000000000000000000000..b3716914a2358330c595435857517567e230d0ce
--- /dev/null
+++ b/package_fix/cartographer-ros/source.fix
@@ -0,0 +1 @@
+Patch0: cartographer-ros-fix-multiple-definition-error.patch
diff --git a/spec_fix/no-debuginfo b/spec_fix/no-debuginfo
index 651ec14de88577ae457b10ed0ce66dce3c01c6cd..25af5e5f846ed913d3880e9f689a9ce0e4f88c34 100644
--- a/spec_fix/no-debuginfo
+++ b/spec_fix/no-debuginfo
@@ -3,3 +3,4 @@ mavlink
 sophus
 libnabo
 rviz-visual-testing-framework
+magic-enum
diff --git a/spec_fix/pkg.remap b/spec_fix/pkg.remap
index 42b57ad2ce61a2b68bebce00f250024d1df8d4a8..bce6d9add3c7591f534921a63a196504330e2c81 100644
--- a/spec_fix/pkg.remap
+++ b/spec_fix/pkg.remap
@@ -79,3 +79,6 @@ opengl mesa-libGL-devel
 libpcl-all-dev pcl-devel
 libflann-dev flann-devel
 nlohmann-json-dev nlohmann-json-devel
+clang-format clang
+python3-catkin-pkg-modules python3-catkin_pkg
+libopencv-imgproc-dev opencv