diff --git a/patch/ros-galactic-geometric-shapes.patch b/patch/ros-galactic-geometric-shapes.patch
index 1a0d3097..3b6cdd19 100644
--- a/patch/ros-galactic-geometric-shapes.patch
+++ b/patch/ros-galactic-geometric-shapes.patch
@@ -1,8 +1,35 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 5a69bc6..fce9401 100644
+index 5a69bc6..4290115 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -27,19 +27,7 @@ endif()
+@@ -7,15 +7,17 @@ if(NOT CMAKE_CXX_STANDARD)
+ endif()
+ 
+ # Set compile options
+-set(PROJECT_COMPILE_OPTIONS
+-  -Wall
+-  -Wextra
+-  -Wwrite-strings
+-  -Wunreachable-code
+-  -Wpointer-arith
+-  -Wredundant-decls
+-  -Wno-unused-parameter
+-)
++if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
++  set(PROJECT_COMPILE_OPTIONS
++    -Wall
++    -Wextra
++    -Wwrite-strings
++    -Wunreachable-code
++    -Wpointer-arith
++    -Wredundant-decls
++    -Wno-unused-parameter
++  )
++endif()
+ 
+ list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/")
+ 
+@@ -27,19 +29,7 @@ endif()
  # TODO(henningkayser): Remove policy fix when assimp 5.1 is available
  # Suppress policy warning in assimp (https://github.com/assimp/assimp/pull/2722)
  set(CMAKE_POLICY_DEFAULT_CMP0012 NEW)
@@ -23,7 +50,7 @@ index 5a69bc6..fce9401 100644
  
  # These need to be in this order to find header files
  find_package(eigen3_cmake_module REQUIRED)
-@@ -73,6 +61,7 @@ set(THIS_PACKAGE_EXPORT_DEPENDS
+@@ -73,6 +63,7 @@ set(THIS_PACKAGE_EXPORT_DEPENDS
    resource_retriever
    shape_msgs
    visualization_msgs
@@ -31,10 +58,14 @@ index 5a69bc6..fce9401 100644
  )
  
  # Set VERSION from package.xml
-@@ -93,12 +82,12 @@ add_library(${PROJECT_NAME} SHARED
- target_compile_options(${PROJECT_NAME} PRIVATE ${PROJECT_COMPILE_OPTIONS})
- set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+@@ -90,15 +81,14 @@ add_library(${PROJECT_NAME} SHARED
+   src/shape_to_marker.cpp
+   src/shapes.cpp
+ )
++set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION} WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
  target_compile_options(${PROJECT_NAME} PRIVATE ${PROJECT_COMPILE_OPTIONS})
+-set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+-target_compile_options(${PROJECT_NAME} PRIVATE ${PROJECT_COMPILE_OPTIONS})
 +target_link_libraries(${PROJECT_NAME} assimp::assimp)
  ament_target_dependencies(${PROJECT_NAME}
    ${THIS_PACKAGE_EXPORT_DEPENDS}
@@ -45,3 +76,49 @@ index 5a69bc6..fce9401 100644
    QHULL
  )
  
+diff --git a/include/geometric_shapes/bodies.h b/include/geometric_shapes/bodies.h
+index 41e221a..c93e539 100644
+--- a/include/geometric_shapes/bodies.h
++++ b/include/geometric_shapes/bodies.h
+@@ -37,10 +37,7 @@
+ #ifndef GEOMETRIC_SHAPES_BODIES_
+ #define GEOMETRIC_SHAPES_BODIES_
+ 
+-#if __cplusplus <= 199711L
+-#error This header requires at least C++11
+-#endif
+-
++#define _USE_MATH_DEFINES
+ #include "geometric_shapes/aabb.h"
+ #include "geometric_shapes/shapes.h"
+ #include <eigen_stl_containers/eigen_stl_containers.h>
+diff --git a/include/geometric_shapes/shape_messages.h b/include/geometric_shapes/shape_messages.h
+index 2db45f4..15d2b15 100644
+--- a/include/geometric_shapes/shape_messages.h
++++ b/include/geometric_shapes/shape_messages.h
+@@ -42,10 +42,6 @@
+ #include <shape_msgs/msg/plane.hpp>
+ #include <boost/variant.hpp>
+ 
+-#if __cplusplus <= 199711L
+-#error This header requires at least C++11 (boost::variant is incompatible between c++98 and c++11 and we enforce 11)
+-#endif
+-
+ namespace shapes
+ {
+ /** \brief Type that can hold any of the desired shape message types */
+diff --git a/include/geometric_shapes/shapes.h b/include/geometric_shapes/shapes.h
+index e527a38..0aa4f0b 100644
+--- a/include/geometric_shapes/shapes.h
++++ b/include/geometric_shapes/shapes.h
+@@ -37,10 +37,6 @@
+ #ifndef GEOMETRIC_SHAPES_SHAPES_
+ #define GEOMETRIC_SHAPES_SHAPES_
+ 
+-#if __cplusplus <= 199711L
+-#error This header requires at least C++11
+-#endif
+-
+ #include <cstdlib>
+ #include <vector>
+ #include <iostream>
diff --git a/patch/ros-galactic-moveit-core.patch b/patch/ros-galactic-moveit-core.patch
new file mode 100644
index 00000000..653e1f4d
--- /dev/null
+++ b/patch/ros-galactic-moveit-core.patch
@@ -0,0 +1,345 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c8db89ea76..487d0a03df 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -13,17 +13,17 @@ find_package(Eigen3 REQUIRED)
+ # Finds Boost Components
+ include(ConfigExtras.cmake)
+ 
+-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+-
+-find_package(Bullet 2.87 REQUIRED)
+-
+ find_package(PkgConfig REQUIRED)
+-
+ pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0")
+-# replace LIBFCL_LIBRARIES with full path to the library
+-find_library(LIBFCL_LIBRARIES_FULL ${LIBFCL_LIBRARIES} ${LIBFCL_LIBRARY_DIRS})
++# replace LIBFCL_LIBRARIES with full paths to the libraries
++set(LIBFCL_LIBRARIES_FULL "")
++foreach(LIBFCL_LIBRARY ${LIBFCL_LIBRARIES})
++  find_library(${LIBFCL_LIBRARY}_LIB ${LIBFCL_LIBRARY} ${LIBFCL_LIBRARY_DIRS})
++  list(APPEND LIBFCL_LIBRARIES_FULL ${${LIBFCL_LIBRARY}_LIB})
++endforeach()
+ set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")
+ 
++find_package(Bullet 2.87 REQUIRED)
+ find_package(angles REQUIRED)
+ find_package(OCTOMAP REQUIRED)
+ find_package(urdfdom REQUIRED)
+diff --git a/CMakeModules/FindBULLET.cmake b/CMakeModules/FindBULLET.cmake
+deleted file mode 100644
+index bfe4056a14..0000000000
+--- a/CMakeModules/FindBULLET.cmake
++++ /dev/null
+@@ -1,10 +0,0 @@
+-include(FindPackageHandleStandardArgs)
+-find_package(PkgConfig)
+-
+-if(PKGCONFIG_FOUND)
+-  pkg_check_modules(BULLET bullet)
+-endif()
+-
+-find_package_handle_standard_args(BULLET
+-                                  REQUIRED_VARS BULLET_LIBRARIES BULLET_INCLUDE_DIRS
+-                                  VERSION_VAR BULLET_VERSION)
+diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
+index f208f771f9..66d6e50b17 100644
+--- a/ConfigExtras.cmake
++++ b/ConfigExtras.cmake
+@@ -1,9 +1,5 @@
+ # Extras module needed for dependencies to find boost components
+ 
+-# boost::iostreams on Windows depends on boost::zlib
+-if(WIN32)
+-  set(EXTRA_BOOST_COMPONENTS zlib)
+-endif()
+ find_package(Boost REQUIRED
+   chrono
+   date_time
+@@ -14,5 +10,4 @@ find_package(Boost REQUIRED
+   serialization
+   system
+   thread
+-  ${EXTRA_BOOST_COMPONENTS}
+ )
+diff --git a/collision_detection/CMakeLists.txt b/collision_detection/CMakeLists.txt
+index a914eafb36..734d0b48a5 100644
+--- a/collision_detection/CMakeLists.txt
++++ b/collision_detection/CMakeLists.txt
+@@ -10,7 +10,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
+   src/world_diff.cpp
+   src/collision_env.cpp
+ )
+-
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+ ament_target_dependencies(${MOVEIT_LIB_NAME}
+   rclcpp
+@@ -51,3 +53,4 @@ if(BUILD_TESTING)
+ endif()
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+diff --git a/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h b/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
+index fdc9aec03b..def3f3bc17 100644
+--- a/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
++++ b/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h
+@@ -39,10 +39,12 @@
+ #include <moveit/collision_detection/collision_detector_allocator.h>
+ #include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
+ 
++#include "moveit_collision_detection_export.h"
++
+ namespace collision_detection
+ {
+ /** \brief An allocator for AllValid collision detectors */
+-class CollisionDetectorAllocatorAllValid
++class MOVEIT_COLLISION_DETECTION_EXPORT CollisionDetectorAllocatorAllValid
+   : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
+ {
+ public:
+diff --git a/collision_detection_bullet/CMakeLists.txt b/collision_detection_bullet/CMakeLists.txt
+index 5d8e87d9a3..1918466bac 100644
+--- a/collision_detection_bullet/CMakeLists.txt
++++ b/collision_detection_bullet/CMakeLists.txt
+@@ -9,6 +9,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
+   src/bullet_integration/contact_checker_common.cpp
+   src/bullet_integration/ros_bullet_utils.cpp
+ )
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ ament_target_dependencies(${MOVEIT_LIB_NAME} SYSTEM
+   BULLET
+@@ -44,6 +47,7 @@ target_link_libraries(collision_detector_bullet_plugin
+ )
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+ install(TARGETS ${MOVEIT_LIB_NAME} EXPORT ${MOVEIT_LIB_NAME}
+   TARGETS collision_detector_bullet_plugin EXPORT collision_detector_bullet_plugin
+   LIBRARY DESTINATION lib
+@@ -61,15 +65,21 @@ if(BUILD_TESTING)
+   ament_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
+   target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
+   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+-  target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)
++  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
++    target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)
++  endif()
+ 
+   ament_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
+   target_link_libraries(test_bullet_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
+   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+-  target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
++  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
++    target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
++  endif()
+ 
+   ament_add_gtest(test_bullet_continuous_collision_checking test/test_bullet_continuous_collision_checking.cpp)
+   target_link_libraries(test_bullet_continuous_collision_checking moveit_test_utils ${MOVEIT_LIB_NAME})
+   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+-  target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
++  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
++    target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
++  endif()
+ endif()
+diff --git a/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h b/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
+index 8b3c11057e..c0cf1be7bf 100644
+--- a/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
++++ b/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h
+@@ -39,10 +39,12 @@
+ #include <moveit/collision_detection/collision_detector_allocator.h>
+ #include <moveit/collision_detection_bullet/collision_env_bullet.h>
+ 
++#include "moveit_collision_detection_bullet_export.h"
++
+ namespace collision_detection
+ {
+ /** \brief An allocator for Bullet collision detectors */
+-class CollisionDetectorAllocatorBullet
++class MOVEIT_COLLISION_DETECTION_BULLET_EXPORT CollisionDetectorAllocatorBullet
+   : public CollisionDetectorAllocatorTemplate<CollisionEnvBullet, CollisionDetectorAllocatorBullet>
+ {
+ public:
+diff --git a/collision_detection_fcl/CMakeLists.txt b/collision_detection_fcl/CMakeLists.txt
+index b6a6b839f6..32002955a7 100644
+--- a/collision_detection_fcl/CMakeLists.txt
++++ b/collision_detection_fcl/CMakeLists.txt
+@@ -4,6 +4,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
+   src/collision_common.cpp
+   src/collision_env_fcl.cpp
+ )
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ ament_target_dependencies(${MOVEIT_LIB_NAME}
+   rclcpp
+@@ -34,6 +37,7 @@ target_link_libraries(collision_detector_fcl_plugin
+ )
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+ 
+ if(BUILD_TESTING)
+   if(WIN32)
+@@ -48,10 +52,14 @@ if(BUILD_TESTING)
+   ament_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection_pr2.cpp)
+   target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
+   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+-  target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
++  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
++    target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
++  endif()
+ 
+   ament_add_gtest(test_fcl_collision_detection_panda test/test_fcl_collision_detection_panda.cpp)
+   target_link_libraries(test_fcl_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
+   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+-  target_compile_options(test_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
++  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
++    target_compile_options(test_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
++  endif()
+ endif()
+diff --git a/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h b/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
+index fde03c4cb5..56851f1679 100644
+--- a/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
++++ b/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h
+@@ -39,10 +39,12 @@
+ #include <moveit/collision_detection/collision_detector_allocator.h>
+ #include <moveit/collision_detection_fcl/collision_env_fcl.h>
+ 
++#include "moveit_collision_detection_fcl_export.h"
++
+ namespace collision_detection
+ {
+ /** \brief An allocator for FCL collision detectors */
+-class CollisionDetectorAllocatorFCL
++class MOVEIT_COLLISION_DETECTION_FCL_EXPORT CollisionDetectorAllocatorFCL
+   : public CollisionDetectorAllocatorTemplate<CollisionEnvFCL, CollisionDetectorAllocatorFCL>
+ {
+ public:
+diff --git a/constraint_samplers/test/pr2_arm_ik.cpp b/constraint_samplers/test/pr2_arm_ik.cpp
+index 77080ee9ef..d172392822 100644
+--- a/constraint_samplers/test/pr2_arm_ik.cpp
++++ b/constraint_samplers/test/pr2_arm_ik.cpp
+@@ -789,6 +789,6 @@ bool PR2ArmIK::checkJointLimits(const double& joint_value, const int& joint_num)
+   else
+     jv = angles::normalize_angle(joint_value * angle_multipliers_[joint_num]);
+ 
+-  return not(jv < min_angles_[joint_num] || jv > max_angles_[joint_num]);
++  return !(jv < min_angles_[joint_num] || jv > max_angles_[joint_num]);
+ }
+ }  // namespace pr2_arm_kinematics
+diff --git a/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp b/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
+index 5b2a7b6716..3ca4e0a7e9 100644
+--- a/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
++++ b/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
+@@ -38,6 +38,7 @@
+ #include <kdl_parser/kdl_parser.hpp>
+ #include <tf2_kdl/tf2_kdl.h>
+ #include <algorithm>
++#include <cmath>
+ 
+ #include <moveit/robot_model/robot_model.h>
+ #include "pr2_arm_kinematics_plugin.h"
+@@ -240,7 +241,7 @@ double computeEuclideanDistance(const std::vector<double>& array_1, const KDL::J
+   {
+     distance += (array_1[i] - array_2(i)) * (array_1[i] - array_2(i));
+   }
+-  return sqrt(distance);
++  return std::sqrt(distance);
+ }
+ 
+ void getKDLChainInfo(const KDL::Chain& chain, moveit_msgs::msg::KinematicSolverInfo& chain_info)
+diff --git a/kinematics_base/CMakeLists.txt b/kinematics_base/CMakeLists.txt
+index ef52feff78..a588d259f8 100644
+--- a/kinematics_base/CMakeLists.txt
++++ b/kinematics_base/CMakeLists.txt
+@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 3.5)
+ set(MOVEIT_LIB_NAME moveit_kinematics_base)
+ 
+ add_library(${MOVEIT_LIB_NAME} SHARED src/kinematics_base.cpp)
+-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ 
+ # This line is needed to ensure that messages are done being built before this is built
+ ament_target_dependencies(
+@@ -17,3 +19,4 @@ ament_target_dependencies(
+ )
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+diff --git a/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+index 4966b017d9..1820513897 100644
+--- a/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
++++ b/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
+@@ -43,6 +43,8 @@
+ #include <boost/function.hpp>
+ #include <string>
+ 
++#include "moveit_kinematics_base_export.h"
++
+ namespace moveit
+ {
+ namespace core
+@@ -140,7 +142,7 @@ MOVEIT_CLASS_FORWARD(KinematicsBase);  // Defines KinematicsBasePtr, ConstPtr, W
+  * @class KinematicsBase
+  * @brief Provides an interface for kinematics solvers.
+  */
+-class KinematicsBase
++class MOVEIT_KINEMATICS_BASE_EXPORT KinematicsBase
+ {
+ public:
+   static const rclcpp::Logger LOGGER;
+diff --git a/planning_scene/CMakeLists.txt b/planning_scene/CMakeLists.txt
+index fc1f7d788f..bb62d2a351 100644
+--- a/planning_scene/CMakeLists.txt
++++ b/planning_scene/CMakeLists.txt
+@@ -1,6 +1,9 @@
+ set(MOVEIT_LIB_NAME moveit_planning_scene)
+ 
+ add_library(${MOVEIT_LIB_NAME} SHARED src/planning_scene.cpp)
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ #TODO: Fix the versioning
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ ament_target_dependencies(${MOVEIT_LIB_NAME}
+@@ -26,6 +29,7 @@ target_link_libraries(${MOVEIT_LIB_NAME}
+ )
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+ 
+ if(BUILD_TESTING)
+   find_package(ament_cmake_gtest REQUIRED)
+diff --git a/planning_scene/include/moveit/planning_scene/planning_scene.h b/planning_scene/include/moveit/planning_scene/planning_scene.h
+index 105fef02ae..9e367ef258 100644
+--- a/planning_scene/include/moveit/planning_scene/planning_scene.h
++++ b/planning_scene/include/moveit/planning_scene/planning_scene.h
+@@ -57,6 +57,8 @@
+ #include <memory>
+ #include "rclcpp/rclcpp.hpp"
+ 
++#include "moveit_planning_scene_export.h"
++
+ /** \brief This namespace includes the central class for representing planning contexts */
+ namespace planning_scene
+ {
+@@ -85,7 +87,8 @@ using ObjectTypeMap = std::map<std::string, object_recognition_msgs::msg::Object
+ /** \brief This class maintains the representation of the
+     environment as seen by a planning instance. The environment
+     geometry, the robot geometry and state are maintained. */
+-class PlanningScene : private boost::noncopyable, public std::enable_shared_from_this<PlanningScene>
++class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : private boost::noncopyable,
++                                                   public std::enable_shared_from_this<PlanningScene>
+ {
+ public:
+   /** \brief construct using an existing RobotModel */
diff --git a/patch/ros-galactic-moveit-kinematics.patch b/patch/ros-galactic-moveit-kinematics.patch
new file mode 100644
index 00000000..c1eaf691
--- /dev/null
+++ b/patch/ros-galactic-moveit-kinematics.patch
@@ -0,0 +1,27 @@
+diff --git a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
+index 49a02b9d6b..e8142e5711 100644
+--- a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
++++ b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
+@@ -551,7 +551,9 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
+         std::vector<int> permutation(children_.size());
+         for (unsigned int i = 0; i < permutation.size(); ++i)
+           permutation[i] = i;
+-        std::random_shuffle(permutation.begin(), permutation.end());
++        std::random_device rng;
++        std::mt19937 urng(rng());
++        std::shuffle(permutation.begin(), permutation.end(), urng);
+ 
+         for (unsigned int i = 0; i < children_.size(); ++i)
+           if (permutation[i] >= 0)
+@@ -605,7 +607,9 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
+         std::vector<int> permutation(children_.size());
+         for (unsigned int i = 0; i < permutation.size(); ++i)
+           permutation[i] = i;
+-        std::random_shuffle(permutation.begin(), permutation.end());
++        std::random_device rng;
++        std::mt19937 urng(rng());
++        std::shuffle(permutation.begin(), permutation.end(), urng);
+ 
+         for (unsigned int i = 0; i < children_.size(); ++i)
+           if (permutation[i] >= 0)
+
diff --git a/patch/ros-galactic-moveit-ros-benchmarks.patch b/patch/ros-galactic-moveit-ros-benchmarks.patch
new file mode 100644
index 00000000..a926b42e
--- /dev/null
+++ b/patch/ros-galactic-moveit-ros-benchmarks.patch
@@ -0,0 +1,38 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e551b8e5c2..eae36d3403 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -37,9 +37,13 @@ add_library(${MOVEIT_LIB_NAME} SHARED
+   src/BenchmarkExecutor.cpp
+ )
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
++if(WIN32)
++  set(EXTRA_LIB ws2_32.lib)
++endif()
+ ament_target_dependencies(${MOVEIT_LIB_NAME}
+   ${THIS_PACKAGE_INCLUDE_DEPENDS}
+ )
++target_link_libraries(${MOVEIT_LIB_NAME} ${EXTRA_LIB})
+ 
+ add_executable(moveit_run_benchmark src/RunBenchmark.cpp)
+ ament_target_dependencies(moveit_run_benchmark
+diff --git a/src/BenchmarkExecutor.cpp b/src/BenchmarkExecutor.cpp
+index bbd774a25c..58a90c714e 100644
+--- a/src/BenchmarkExecutor.cpp
++++ b/src/BenchmarkExecutor.cpp
+@@ -49,12 +49,15 @@
+ #include <boost/math/constants/constants.hpp>
+ #include <boost/filesystem.hpp>
+ #include <boost/date_time/posix_time/posix_time.hpp>
++#include <limits>
+ #ifndef _WIN32
+ #include <unistd.h>
+ #else
+ #include <winsock2.h>
+ #endif
+ 
++#undef max
++
+ using namespace moveit_ros_benchmarks;
+ 
+ static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.benchmarks.BenchmarkExecutor");
\ No newline at end of file
diff --git a/patch/ros-galactic-moveit-ros-perception.patch b/patch/ros-galactic-moveit-ros-perception.patch
new file mode 100644
index 00000000..ebeaae20
--- /dev/null
+++ b/patch/ros-galactic-moveit-ros-perception.patch
@@ -0,0 +1,79 @@
+diff --git a/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp b/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
+index 4edc9a3758..dc186f44e4 100644
+--- a/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
++++ b/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
+@@ -44,6 +44,7 @@
+ #include <stdint.h>
+ 
+ #include <memory>
++#include <boost/bind.hpp>
+ 
+ namespace occupancy_map_monitor
+ {
+diff --git a/perception/mesh_filter/CMakeLists.txt b/perception/mesh_filter/CMakeLists.txt
+index 6a83af3974..54b973d317 100644
+--- a/perception/mesh_filter/CMakeLists.txt
++++ b/perception/mesh_filter/CMakeLists.txt
+@@ -7,6 +7,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
+   src/gl_renderer.cpp
+   src/gl_mesh.cpp
+ )
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ ament_target_dependencies(${MOVEIT_LIB_NAME}
+   rclcpp
+@@ -40,3 +43,4 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${gl_LIBS} ${SYSTEM_GL_LIBRARIES})
+ # endif()
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+diff --git a/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h b/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
+index 6f4f9243fd..92e3441c4c 100644
+--- a/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
++++ b/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
+@@ -48,6 +48,9 @@
+ #include <mutex>
+ #include <map>
+ 
++#undef near
++#undef far
++
+ namespace mesh_filter
+ {
+ MOVEIT_CLASS_FORWARD(GLRenderer);  // Defines GLRendererPtr, ConstPtr, WeakPtr... etc
+diff --git a/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h b/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
+index 5ffd8174d3..cd4a0a7732 100644
+--- a/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
++++ b/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
+@@ -39,13 +39,15 @@
+ #include <moveit/mesh_filter/sensor_model.h>
+ #include <string>
+ 
++#include "moveit_mesh_filter_export.h"
++
+ namespace mesh_filter
+ {
+ /**
+  * \brief Model for Disparity based devices. E.g stereo camera systems or OpenNI compatible devices
+  * \author Suat Gedikli <gedikli@willowgarage.com>
+  */
+-class StereoCameraModel : public SensorModel
++class MOVEIT_MESH_FILTER_EXPORT StereoCameraModel : public SensorModel
+ {
+ public:
+   /**
+diff --git a/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+index 4007b4da4f..cd163cb601 100644
+--- a/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
++++ b/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+@@ -45,6 +45,7 @@
+ #include <tf2_ros/create_timer_ros.h>
+ 
+ #include <memory>
++#include <boost/bind.hpp>
+ 
+ namespace occupancy_map_monitor
+ {
+
diff --git a/patch/ros-galactic-moveit-ros-planning-interface.patch b/patch/ros-galactic-moveit-ros-planning-interface.patch
new file mode 100644
index 00000000..9fb1684a
--- /dev/null
+++ b/patch/ros-galactic-moveit-ros-planning-interface.patch
@@ -0,0 +1,44 @@
+diff --git a/move_group_interface/CMakeLists.txt b/move_group_interface/CMakeLists.txt
+index 523d74f259..776286d927 100644
+--- a/move_group_interface/CMakeLists.txt
++++ b/move_group_interface/CMakeLists.txt
+@@ -1,6 +1,9 @@
+ set(MOVEIT_LIB_NAME moveit_move_group_interface)
+ 
+ add_library(${MOVEIT_LIB_NAME} SHARED src/move_group_interface.cpp)
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_objects moveit_planning_scene_interface ${Boost_THREAD_LIBRARY})
+ ament_target_dependencies(${MOVEIT_LIB_NAME}
+@@ -24,6 +27,7 @@ if(WIN32)
+ endif()
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+ 
+ #add_executable(demo src/demo.cpp)
+ #target_link_libraries(demo ${MOVEIT_LIB_NAME} ${LIBS} ${Boost_LIBRARIES})
+diff --git a/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+index e0cd026d63..6e725bac02 100644
+--- a/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
++++ b/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+@@ -60,6 +60,8 @@
+ #include <utility>
+ #include <tf2_ros/buffer.h>
+ 
++#include "moveit_move_group_interface_export.h"
++
+ namespace moveit
+ {
+ /** \brief Simple interface to MoveIt components */
+@@ -101,7 +103,7 @@ MOVEIT_CLASS_FORWARD(MoveGroupInterface);  // Defines MoveGroupInterfacePtr, Con
+     \brief Client class to conveniently use the ROS interfaces provided by the move_group node.
+ 
+     This class includes many default settings to make things easy to use. */
+-class MoveGroupInterface
++class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
+ {
+ public:
+   /** \brief Default ROS parameter name from where to read the robot's URDF. Set to 'robot_description' */
diff --git a/patch/ros-galactic-moveit-ros-planning.patch b/patch/ros-galactic-moveit-ros-planning.patch
new file mode 100644
index 00000000..8d9f7445
--- /dev/null
+++ b/patch/ros-galactic-moveit-ros-planning.patch
@@ -0,0 +1,159 @@
+diff --git a/planning_pipeline/CMakeLists.txt b/planning_pipeline/CMakeLists.txt
+index cf3c676457..2e8c7c925c 100644
+--- a/planning_pipeline/CMakeLists.txt
++++ b/planning_pipeline/CMakeLists.txt
+@@ -1,6 +1,9 @@
+ set(MOVEIT_LIB_NAME moveit_planning_pipeline)
+ 
+ add_library(${MOVEIT_LIB_NAME} SHARED src/planning_pipeline.cpp)
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ 
+ ament_target_dependencies(${MOVEIT_LIB_NAME}
+@@ -12,3 +15,4 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
+ )
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+diff --git a/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h b/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
+index 77a1e47260..3c3527da32 100644
+--- a/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
++++ b/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
+@@ -45,6 +45,8 @@
+ 
+ #include <memory>
+ 
++#include "moveit_planning_pipeline_export.h"
++
+ /** \brief Planning pipeline */
+ namespace planning_pipeline
+ {
+@@ -54,7 +56,7 @@ namespace planning_pipeline
+     planning plugin and the
+     planning_request_adapter::PlanningRequestAdapter plugins, in the
+     specified order. */
+-class PlanningPipeline
++class MOVEIT_PLANNING_PIPELINE_EXPORT PlanningPipeline
+ {
+ public:
+   /** \brief When motion plans are computed and they are supposed to be automatically displayed, they are sent to this
+diff --git a/planning_scene_monitor/CMakeLists.txt b/planning_scene_monitor/CMakeLists.txt
+index b72df8876c..0abcbfde1a 100644
+--- a/planning_scene_monitor/CMakeLists.txt
++++ b/planning_scene_monitor/CMakeLists.txt
+@@ -5,6 +5,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
+   src/current_state_monitor.cpp
+   src/trajectory_monitor.cpp
+ )
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ ament_target_dependencies(${MOVEIT_LIB_NAME}
+   moveit_ros_occupancy_map_monitor
+@@ -36,3 +39,4 @@ install(TARGETS demo_scene
+ )
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+diff --git a/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+index bff0dc56b0..c275e40d40 100644
+--- a/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
++++ b/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+@@ -49,9 +49,12 @@
+ #include <boost/noncopyable.hpp>
+ #include <boost/thread/shared_mutex.hpp>
+ #include <boost/thread/recursive_mutex.hpp>
++#include <boost/thread/thread.hpp>
+ #include <memory>
+ #include <thread>
+ 
++#include "moveit_planning_scene_monitor_export.h"
++
+ namespace planning_scene_monitor
+ {
+ MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);  // Defines PlanningSceneMonitorPtr, ConstPtr, WeakPtr... etc
+@@ -59,7 +62,7 @@ MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);  // Defines PlanningSceneMonitorPtr,
+ /**
+  * @brief PlanningSceneMonitor
+  * Subscribes to the topic \e planning_scene */
+-class PlanningSceneMonitor : private boost::noncopyable
++class MOVEIT_PLANNING_SCENE_MONITOR_EXPORT PlanningSceneMonitor : private boost::noncopyable
+ {
+ public:
+   enum SceneUpdateType
+diff --git a/rdf_loader/src/rdf_loader.cpp b/rdf_loader/src/rdf_loader.cpp
+index 2af090bf7d..ab64407cb8 100644
+--- a/rdf_loader/src/rdf_loader.cpp
++++ b/rdf_loader/src/rdf_loader.cpp
+@@ -192,7 +192,11 @@ bool RDFLoader::loadXacroFileToString(std::string& buffer, const std::string& pa
+     cmd += xacro_arg + " ";
+   cmd += path;
+ 
++#ifdef _WIN32
++  FILE* pipe = _popen(cmd.c_str(), "r");
++#else
+   FILE* pipe = popen(cmd.c_str(), "r");
++#endif
+   if (!pipe)
+   {
+     RCLCPP_ERROR(LOGGER, "Unable to load path");
+@@ -205,7 +209,11 @@ bool RDFLoader::loadXacroFileToString(std::string& buffer, const std::string& pa
+     if (fgets(pipe_buffer, 128, pipe) != nullptr)
+       buffer += pipe_buffer;
+   }
++#ifdef _WIN32
++  _pclose(pipe);
++#else
+   pclose(pipe);
++#endif
+ 
+   return true;
+ }
+diff --git a/trajectory_execution_manager/CMakeLists.txt b/trajectory_execution_manager/CMakeLists.txt
+index d0e2b2acd0..95db3085ab 100644
+--- a/trajectory_execution_manager/CMakeLists.txt
++++ b/trajectory_execution_manager/CMakeLists.txt
+@@ -1,6 +1,9 @@
+ set(MOVEIT_LIB_NAME moveit_trajectory_execution_manager)
+ 
+ add_library(${MOVEIT_LIB_NAME} SHARED src/trajectory_execution_manager.cpp)
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ ament_target_dependencies(${MOVEIT_LIB_NAME}
+   moveit_core
+@@ -18,6 +21,7 @@ target_link_libraries(${MOVEIT_LIB_NAME}
+ )
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+ 
+ if(CATKIN_ENABLE_TESTING)
+ 
+diff --git a/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+index bcba19818e..55e2b5b733 100644
+--- a/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
++++ b/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+@@ -48,6 +48,9 @@
+ #include <pluginlib/class_loader.hpp>
+ 
+ #include <memory>
++#include <deque>
++
++#include "moveit_trajectory_execution_manager_export.h"
+ 
+ namespace trajectory_execution_manager
+ {
+@@ -56,7 +59,7 @@ MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager);  // Defines TrajectoryExecutio
+ // Two modes:
+ // Managed controllers
+ // Unmanaged controllers: given the trajectory,
+-class TrajectoryExecutionManager
++class MOVEIT_TRAJECTORY_EXECUTION_MANAGER_EXPORT TrajectoryExecutionManager
+ {
+ public:
+   static const std::string EXECUTION_EVENT_TOPIC;
diff --git a/patch/ros-galactic-moveit-ros-robot-interaction.patch b/patch/ros-galactic-moveit-ros-robot-interaction.patch
new file mode 100644
index 00000000..5e06f68a
--- /dev/null
+++ b/patch/ros-galactic-moveit-ros-robot-interaction.patch
@@ -0,0 +1,41 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9491f51480..c9298c2ca1 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -35,6 +35,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
+   src/interaction_handler.cpp
+   src/robot_interaction.cpp
+ )
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ ament_target_dependencies(${MOVEIT_LIB_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+ 
+@@ -56,6 +59,7 @@ install(
+ )
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+ 
+ install(DIRECTORY resources DESTINATION share/${PROJECT_NAME})
+ 
+diff --git a/include/moveit/robot_interaction/kinematic_options_map.h b/include/moveit/robot_interaction/kinematic_options_map.h
+index 12a9c9203d..d00a29541a 100644
+--- a/include/moveit/robot_interaction/kinematic_options_map.h
++++ b/include/moveit/robot_interaction/kinematic_options_map.h
+@@ -40,11 +40,13 @@
+ #include <boost/thread.hpp>
+ #include <boost/function.hpp>
+ 
++#include "moveit_robot_interaction_export.h"
++
+ namespace robot_interaction
+ {
+ // Maintains a set of KinematicOptions with a key/value mapping and a default
+ // value.
+-class KinematicOptionsMap
++class MOVEIT_ROBOT_INTERACTION_EXPORT KinematicOptionsMap
+ {
+ public:
+   /// Constructor - set all options to reasonable default values.
diff --git a/patch/ros-galactic-moveit-ros-visualization.patch b/patch/ros-galactic-moveit-ros-visualization.patch
new file mode 100644
index 00000000..063b889b
--- /dev/null
+++ b/patch/ros-galactic-moveit-ros-visualization.patch
@@ -0,0 +1,41 @@
+diff --git a/planning_scene_rviz_plugin/CMakeLists.txt b/planning_scene_rviz_plugin/CMakeLists.txt
+index 5b65ecdba6..b987a90b9e 100644
+--- a/planning_scene_rviz_plugin/CMakeLists.txt
++++ b/planning_scene_rviz_plugin/CMakeLists.txt
+@@ -3,6 +3,9 @@ set(MOVEIT_LIB_NAME moveit_planning_scene_rviz_plugin)
+ add_library(${MOVEIT_LIB_NAME}_core SHARED
+   src/planning_scene_display.cpp
+   include/moveit/planning_scene_rviz_plugin/planning_scene_display.h)
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME}_core)
++target_include_directories(${MOVEIT_LIB_NAME}_core PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME}_core PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ target_link_libraries(${MOVEIT_LIB_NAME}_core moveit_rviz_plugin_render_tools)
+ ament_target_dependencies(${MOVEIT_LIB_NAME}_core
+@@ -27,3 +30,4 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
+ target_include_directories(${MOVEIT_LIB_NAME} PRIVATE "${OGRE_PREFIX_DIR}/include")
+ 
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_core_export.h DESTINATION include)
+diff --git a/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h b/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+index 5e3ae0d488..7f0fd21c06 100644
+--- a/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
++++ b/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+@@ -47,6 +47,8 @@
+ #include <rclcpp/rclcpp.hpp>
+ #endif
+ 
++#include "moveit_planning_scene_rviz_plugin_core_export.h"
++
+ namespace Ogre
+ {
+ class SceneNode;
+@@ -66,7 +68,7 @@ class EnumProperty;
+ 
+ namespace moveit_rviz_plugin
+ {
+-class PlanningSceneDisplay : public rviz_common::Display
++class MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_CORE_EXPORT PlanningSceneDisplay : public rviz_common::Display
+ {
+   Q_OBJECT
+ 
\ No newline at end of file
diff --git a/patch/ros-galactic-moveit-ros-warehouse.patch b/patch/ros-galactic-moveit-ros-warehouse.patch
new file mode 100644
index 00000000..c2b81a6f
--- /dev/null
+++ b/patch/ros-galactic-moveit-ros-warehouse.patch
@@ -0,0 +1,116 @@
+diff --git a/warehouse/CMakeLists.txt b/warehouse/CMakeLists.txt
+index ccba905b88..6c72e53c6a 100644
+--- a/warehouse/CMakeLists.txt
++++ b/warehouse/CMakeLists.txt
+@@ -9,6 +9,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
+   src/state_storage.cpp
+   src/warehouse_connector.cpp
+ )
++include(GenerateExportHeader)
++generate_export_header(${MOVEIT_LIB_NAME})
++target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ ament_target_dependencies(${MOVEIT_LIB_NAME} rclcpp Boost moveit_core warehouse_ros moveit_ros_planning)
+ 
+@@ -47,3 +50,4 @@ install(
+   RUNTIME DESTINATION lib/${PROJECT_NAME}
+ )
+ install(DIRECTORY include/ DESTINATION include)
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
+diff --git a/warehouse/include/moveit/warehouse/constraints_storage.h b/warehouse/include/moveit/warehouse/constraints_storage.h
+index bfab2a7f9d..e170bda5cd 100644
+--- a/warehouse/include/moveit/warehouse/constraints_storage.h
++++ b/warehouse/include/moveit/warehouse/constraints_storage.h
+@@ -40,6 +40,8 @@
+ #include <moveit/macros/class_forward.h>
+ #include <moveit_msgs/msg/constraints.hpp>
+ 
++#include "moveit_warehouse_export.h"
++
+ namespace moveit_warehouse
+ {
+ typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::Constraints>::ConstPtr ConstraintsWithMetadata;
+@@ -47,7 +49,7 @@ typedef warehouse_ros::MessageCollection<moveit_msgs::msg::Constraints>::Ptr Con
+ 
+ MOVEIT_CLASS_FORWARD(ConstraintsStorage);  // Defines ConstraintsStoragePtr, ConstPtr, WeakPtr... etc
+ 
+-class ConstraintsStorage : public MoveItMessageStorage
++class MOVEIT_WAREHOUSE_EXPORT ConstraintsStorage : public MoveItMessageStorage
+ {
+ public:
+   static const std::string DATABASE_NAME;
+diff --git a/warehouse/include/moveit/warehouse/planning_scene_storage.h b/warehouse/include/moveit/warehouse/planning_scene_storage.h
+index cea20282b6..6b6b633247 100644
+--- a/warehouse/include/moveit/warehouse/planning_scene_storage.h
++++ b/warehouse/include/moveit/warehouse/planning_scene_storage.h
+@@ -42,6 +42,8 @@
+ #include <moveit_msgs/msg/motion_plan_request.hpp>
+ #include <moveit_msgs/msg/robot_trajectory.hpp>
+ 
++#include "moveit_warehouse_export.h"
++
+ namespace moveit_warehouse
+ {
+ typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::PlanningScene>::ConstPtr PlanningSceneWithMetadata;
+@@ -54,7 +56,7 @@ typedef warehouse_ros::MessageCollection<moveit_msgs::msg::RobotTrajectory>::Ptr
+ 
+ MOVEIT_CLASS_FORWARD(PlanningSceneStorage);  // Defines PlanningSceneStoragePtr, ConstPtr, WeakPtr... etc
+ 
+-class PlanningSceneStorage : public MoveItMessageStorage
++class MOVEIT_WAREHOUSE_EXPORT PlanningSceneStorage : public MoveItMessageStorage
+ {
+ public:
+   static const std::string DATABASE_NAME;
+diff --git a/warehouse/include/moveit/warehouse/state_storage.h b/warehouse/include/moveit/warehouse/state_storage.h
+index 5f6c66a3e0..952c549945 100644
+--- a/warehouse/include/moveit/warehouse/state_storage.h
++++ b/warehouse/include/moveit/warehouse/state_storage.h
+@@ -40,6 +40,8 @@
+ #include <moveit/macros/class_forward.h>
+ #include <moveit_msgs/msg/robot_state.hpp>
+ 
++#include "moveit_warehouse_export.h"
++
+ namespace moveit_warehouse
+ {
+ typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::RobotState>::ConstPtr RobotStateWithMetadata;
+@@ -47,7 +49,7 @@ typedef warehouse_ros::MessageCollection<moveit_msgs::msg::RobotState>::Ptr Robo
+ 
+ MOVEIT_CLASS_FORWARD(RobotStateStorage);  // Defines RobotStateStoragePtr, ConstPtr, WeakPtr... etc
+ 
+-class RobotStateStorage : public MoveItMessageStorage
++class MOVEIT_WAREHOUSE_EXPORT RobotStateStorage : public MoveItMessageStorage
+ {
+ public:
+   static const std::string DATABASE_NAME;
+diff --git a/warehouse/src/warehouse_connector.cpp b/warehouse/src/warehouse_connector.cpp
+index 17096723b3..6c4ffa6386 100644
+--- a/warehouse/src/warehouse_connector.cpp
++++ b/warehouse/src/warehouse_connector.cpp
+@@ -36,12 +36,25 @@
+ 
+ #include <sys/types.h>
+ #include <signal.h>
+-#include <unistd.h>
+ #include <rclcpp/rclcpp.hpp>
+ #include <moveit/warehouse/warehouse_connector.h>
+ 
+ static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.warehouse.warehouse_connector");
+ 
++#ifdef _WIN32
++void kill(int, int)
++{
++  RCLCPP_ERROR(LOGGER, "Warehouse connector not supported on Windows");
++}  // Should never be called
++int fork()
++{
++  RCLCPP_ERROR(LOGGER, "Warehouse connector not supported on Windows");
++  return -1;
++}
++#else
++#include <unistd.h>
++#endif
++
+ namespace moveit_warehouse
+ {
+ WarehouseConnector::WarehouseConnector(const std::string& dbexec) : dbexec_(dbexec), child_pid_(0)
diff --git a/patch/ros-galactic-moveit-servo.patch b/patch/ros-galactic-moveit-servo.patch
new file mode 100644
index 00000000..43d9944a
--- /dev/null
+++ b/patch/ros-galactic-moveit-servo.patch
@@ -0,0 +1,30 @@
+diff --git a/include/moveit_servo/servo_calcs.h b/include/moveit_servo/servo_calcs.h
+index 097069a153..c2c6212a5d 100644
+--- a/include/moveit_servo/servo_calcs.h
++++ b/include/moveit_servo/servo_calcs.h
+@@ -333,7 +333,7 @@ class ServoCalcs
+ 
+   const int gazebo_redundant_message_count_ = 30;
+ 
+-  uint num_joints_;
++  unsigned int num_joints_;
+ 
+   // True -> allow drift in this dimension. In the command frame. [x, y, z, roll, pitch, yaw]
+   std::array<bool, 6> drift_dimensions_ = { { false, false, false, false, false, false } };
+diff --git a/perception/CMakeLists.txt b/perception/CMakeLists.txt
+index 27ce4ca893..f2fef34935 100644
+--- a/perception/CMakeLists.txt
++++ b/perception/CMakeLists.txt
+@@ -28,7 +28,11 @@ if(WITH_OPENGL)
+     set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW FreeGLUT::freeglut)
+   else()
+     find_package(GLUT REQUIRED)
+-    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLUT::GLUT)
++    if(WIN32)
++      set(SYSTEM_GL_LIBRARIES GLEW::glew GLUT::GLUT)
++    else()
++      set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLUT::GLUT)
++    endif()
+   endif()
+   set(perception_GL_INCLUDE_DIRS "mesh_filter/include" "depth_image_octomap_updater/include")
+   set(SYSTEM_GL_INCLUDE_DIRS ${GLEW_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
\ No newline at end of file
diff --git a/vinca_win.yaml b/vinca_win.yaml
index a8c31349..2b96f16f 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -7,34 +7,34 @@ conda_index:
 
 build_number: 0
 
-skip_all_deps: true
+skip_all_deps: false
 
-# packages_skip_by_deps:
-#   - iceoryx_utils
-#   - iceoryx_binding_c
-#   - iceoryx_posh
-#   - cyclonedds
-#   - rttest
+packages_skip_by_deps:
+  - iceoryx_utils
+  - iceoryx_binding_c
+  - iceoryx_posh
+  - cyclonedds
+  - rttest
 
-# packages_remove_from_deps:
-#   - rmw_cyclonedds_cpp
-#   - tlsf
-#   - tlsf_cpp
-#   - pendulum_control
+packages_remove_from_deps:
+  - rmw_cyclonedds_cpp
+  - tlsf
+  - tlsf_cpp
+  - pendulum_control
 
 skip_existing:
-  # - https://conda.anaconda.org/robostack-experimental/
+  - https://conda.anaconda.org/robostack-experimental/
 
 packages_select_by_deps:
-  - rviz_default_plugins
+
+  - moveit
+
   # - srdfdom
   # - behaviortree_cpp_v3
   # - octomap
   # - ament_cmake_python
-  # - moveit
 
   # not yet
-  # - moveit
   # - navigation2
 
   # done