diff --git a/distros/humble/patch/ros2-autoware-downsample-filters.patch b/distros/humble/patch/ros2-autoware-downsample-filters.patch
index e6909deb..7ed06917 100644
--- a/distros/humble/patch/ros2-autoware-downsample-filters.patch
+++ b/distros/humble/patch/ros2-autoware-downsample-filters.patch
@@ -1,16 +1,3 @@
-diff --git a/src/voxel_grid_downsample_filter/faster_voxel_grid_downsample_filter.cpp b/src/voxel_grid_downsample_filter/faster_voxel_grid_downsample_filter.cpp
-index 2e418c0..428b6bc 100644
---- a/src/voxel_grid_downsample_filter/faster_voxel_grid_downsample_filter.cpp
-+++ b/src/voxel_grid_downsample_filter/faster_voxel_grid_downsample_filter.cpp
-@@ -165,7 +165,7 @@ FasterVoxelGridDownsampleFilter::calc_centroids_each_voxel(
-   for (size_t global_offset = 0; global_offset + input->point_step <= input->data.size();
-        global_offset += input->point_step) {
-     Eigen::Vector4f point = get_point_from_global_offset(input, global_offset);
--    if (std::isfinite(point[0]) && std::isfinite(point[1]), std::isfinite(point[2])) {
-+    if (std::isfinite(point[0]) && std::isfinite(point[1]) && std::isfinite(point[2])) {
-       // Calculate the voxel index to which the point belongs
-       int ijk0 = static_cast<int>(std::floor(point[0] * inverse_voxel_size_[0]) - min_voxel[0]);
-       int ijk1 = static_cast<int>(std::floor(point[1] * inverse_voxel_size_[1]) - min_voxel[1]);
 diff --git a/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter_node.cpp b/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter_node.cpp
 index 241239d..4b02608 100644
 --- a/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter_node.cpp
diff --git a/distros/humble/patch/ros2-moveit-ros-perception.osx.patch b/distros/humble/patch/ros2-moveit-ros-perception.osx.patch
deleted file mode 100644
index b391866b..00000000
--- a/distros/humble/patch/ros2-moveit-ros-perception.osx.patch
+++ /dev/null
@@ -1,66 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 0452e0485..38b72376a 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -17,8 +17,10 @@ if(WITH_OPENGL)
- 
-   set(GL_LIBS ${GL_LIBS} ${OPENGL_LIBRARIES})
-   if(APPLE)
--    find_package(FreeGLUT REQUIRED)
--    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW FreeGLUT::freeglut)
-+    list(INSERT CMAKE_FRAMEWORK_PATH 0 /System/Library/Frameworks)
-+    find_package(GLUT REQUIRED)
-+    # find_package(FreeGLUT REQUIRED)
-+    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW GLUT::GLUT)
-   else()
-     find_package(GLUT REQUIRED)
-     if(WIN32)
-diff --git a/mesh_filter/src/gl_renderer.cpp b/mesh_filter/src/gl_renderer.cpp
-index e528cb5b5..9d1689cf6 100644
---- a/mesh_filter/src/gl_renderer.cpp
-+++ b/mesh_filter/src/gl_renderer.cpp
-@@ -37,11 +37,13 @@
- #include <GL/glew.h>
- #ifdef __APPLE__
- #include <OpenGL/glu.h>
-+#include <OpenGL/gl.h>
-+#include <GLUT/glut.h>
- #else
- #include <GL/glu.h>
- #include <GL/glut.h>
--#endif
- #include <GL/freeglut.h>
-+#endif
- #include <moveit/mesh_filter/gl_renderer.hpp>
- #include <moveit/utils/logger.hpp>
- #include <sstream>
-@@ -405,8 +407,13 @@ void mesh_filter::GLRenderer::createGLContext()
-     glutIconifyWindow();
-     glutHideWindow();
- 
--    for (int i = 0; i < 10; ++i)
--      glutMainLoopEvent();
-+    for (int i = 0; i < 10; ++i){
-+      #ifdef __APPLE__
-+        glutCheckLoop();
-+      #else
-+        glutMainLoopEvent();
-+      #endif
-+    }
- 
-     s_context.at(thread_id) = std::pair<unsigned, GLuint>(1, window_id);
-   }
-diff --git a/semantic_world/CMakeLists.txt b/semantic_world/CMakeLists.txt
-index dc8d941da..0baff31eb 100644
---- a/semantic_world/CMakeLists.txt
-+++ b/semantic_world/CMakeLists.txt
-@@ -13,6 +13,8 @@ ament_target_dependencies(
-   moveit_msgs
-   tf2_eigen
-   Eigen3
--  Boost)
-+  Boost
-+  OpenCV)
-+  
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
diff --git a/distros/humble/patch/ros2-rclpy.osx.patch b/distros/humble/patch/ros2-rclpy.osx.patch
index 10d806eb..09ac5833 100644
--- a/distros/humble/patch/ros2-rclpy.osx.patch
+++ b/distros/humble/patch/ros2-rclpy.osx.patch
@@ -25,7 +25,7 @@ index a9966c0..30cb145 100644
  endfunction()
  
  # Split from main extension and converted to pybind11
--pybind11_add_module(_rclpy_pybind11 SHARED
+-pybind11_add_module(_rclpy_pybind11
 +pybind11_add_module(_rclpy_pybind11 MODULE NO_EXTRAS
    src/rclpy/_rclpy_logging.cpp
    src/rclpy/_rclpy_pybind11.cpp
diff --git a/distros/rolling/patch/ros2-plotjuggler.patch b/distros/rolling/patch/ros2-plotjuggler.patch
index 0281163b..5cd8056f 100644
--- a/distros/rolling/patch/ros2-plotjuggler.patch
+++ b/distros/rolling/patch/ros2-plotjuggler.patch
@@ -1,29 +1,5 @@
-diff --git a/plotjuggler_plugins/ParserROS/ros_parser.cpp b/plotjuggler_plugins/ParserROS/ros_parser.cpp
-index 1ee03a8b..cd711f28 100644
---- a/plotjuggler_plugins/ParserROS/ros_parser.cpp
-+++ b/plotjuggler_plugins/ParserROS/ros_parser.cpp
-@@ -113,7 +113,8 @@ bool ParserROS::parseMessage(const PJ::MessageRef serialized_msg, double& timest
-     return true;
-   }
-
--  _parser.deserialize(serialized_msg, &_flat_msg, _deserializer.get());
-+  _parser.deserialize(Span<const uint8_t>(serialized_msg.data(), serialized_msg.size()),
-+                      &_flat_msg, _deserializer.get());
-
-   if (_has_header && this->useEmbeddedTimestamp())
-   {
-diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt b/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt
-index 1111111..2222222 100644
---- a/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt
-+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt
-@@ -26,4 +26,4 @@ target_include_directories(rosx_introspection PUBLIC
-     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-     $<INSTALL_INTERFACE:include>)
-
--target_compile_features(rosx_introspection PUBLIC cxx_std_17)
-+target_compile_features(rosx_introspection PUBLIC cxx_std_20)
 diff --git a/plotjuggler_app/mainwindow.cpp b/plotjuggler_app/mainwindow.cpp
-index c84d9066..b493dd0d 100644
+index c84d906..b493dd0 100644
 --- a/plotjuggler_app/mainwindow.cpp
 +++ b/plotjuggler_app/mainwindow.cpp
 @@ -68,8 +68,8 @@
@@ -48,3 +24,16 @@ index c84d9066..b493dd0d 100644
      _plugin_manager.loadPluginsFromFolder(ros2_path);
  #endif
    }
+diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt b/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt
+index c85f032..c643d97 100644
+--- a/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt
++++ b/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt
+@@ -28,7 +28,7 @@ target_include_directories(rosx_introspection PUBLIC
+     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+     $<INSTALL_INTERFACE:include>)
+ 
+-target_compile_features(rosx_introspection PUBLIC cxx_std_17)
++target_compile_features(rosx_introspection PUBLIC cxx_std_20)
+ 
+ # peglib.h (used by idl_parser.cpp) checks __cplusplus >= 201703L, but MSVC
+ # keeps __cplusplus at 199711L for ABI back-compat unless /Zc:__cplusplus