diff --git a/distros/humble/patch/ros2-canopen-core.patch b/distros/humble/patch/ros2-canopen-core.patch
new file mode 100644
index 00000000..8b82737b
--- /dev/null
+++ b/distros/humble/patch/ros2-canopen-core.patch
@@ -0,0 +1,11 @@
+diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
+index 8f7786d..b231296 100644
+--- a/ConfigExtras.cmake
++++ b/ConfigExtras.cmake
+@@ -12,4 +12,5 @@
+ # See the License for the specific language governing permissions and
+ # limitations under the License.
+ #
+-find_package(Boost REQUIRED system thread)
++# Boost.System is header-only (no boost_system library since Boost 1.89); as canopen_core 0.3
++find_package(Boost REQUIRED thread)
diff --git a/distros/humble/patch/ros2-lely-core-libraries.patch b/distros/humble/patch/ros2-lely-core-libraries.patch
new file mode 100644
index 00000000..f2fd9802
--- /dev/null
+++ b/distros/humble/patch/ros2-lely-core-libraries.patch
@@ -0,0 +1,61 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 29506fe..ae05873 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -8,8 +8,8 @@ include(ExternalProject)
+ ExternalProject_Add(upstr_lely_core_libraries    # Name for custom target
+   #--Download step--------------
+   SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/upstream
+-  INSTALL_DIR "${CMAKE_INSTALL_PREFIX}"  # Installation prefix
+-  BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/build
++  INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/lely_install"  # Installation prefix
++  BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/lely
+   GIT_REPOSITORY https://gitlab.com/lely_industries/lely-core.git
+   GIT_TAG fb735b79cab5f0cdda45bc5087414d405ef8f3ab
+   TIMEOUT 60
+@@ -19,15 +19,18 @@ ExternalProject_Add(upstr_lely_core_libraries    # Name for custom target
+   COMMAND git apply --whitespace=fix --reject ${CMAKE_CURRENT_SOURCE_DIR}/patches/0001-Fix-dcf-tools.patch
+   #CONFIGURE step execute autoreconf and configure
+   CONFIGURE_COMMAND autoreconf -i <SOURCE_DIR>
+-  COMMAND <SOURCE_DIR>/configure --prefix=<INSTALL_DIR> --disable-cython --disable-doc --disable-tests --disable-static --disable-diag
++  # this lely commit predates GCC 15: C23 (GCC 15's default) removed ATOMIC_VAR_INIT, and
++  # -Wunterminated-string-initialization is new (lely builds with -Werror)
++  COMMAND ${CMAKE_COMMAND} -E env "CFLAGS=$ENV{CFLAGS} -std=gnu17 -Wno-error=unterminated-string-initialization"
++          <SOURCE_DIR>/configure --prefix=<INSTALL_DIR> --disable-cython --disable-doc --disable-tests --disable-static --disable-diag
+   #BUILD STEP execute make
+-  BUILD_COMMAND $(MAKE) -C ${CMAKE_CURRENT_BINARY_DIR}/build
++  BUILD_COMMAND make -j
+   #INSTALL STEP do nothing as we install in main
+-  INSTALL_COMMAND ""
++  INSTALL_COMMAND make install VERBOSE=1
+ )
+ 
+ #INSTALL lely_core_libraries - execute make install
+-install(CODE "execute_process(COMMAND ${CMAKE_MAKE_PROGRAM} install VERBOSE=1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/build)")
++#install(CODE "execute_process(COMMAND ${CMAKE_MAKE_PROGRAM} install VERBOSE=1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/build)")
+ 
+ set(lely_core_cmake_DIR "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+ include("cmake/lely_core_libraries-extras.cmake" NO_POLICY_SCOPE)
+@@ -46,6 +49,22 @@ install(
+     DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+     USE_SOURCE_PERMISSIONS)
+ 
++install(
++    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/lely_install/bin/
++    USE_SOURCE_PERMISSIONS
++    DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
++)
++
++install(
++    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/lely_install/include/lely/
++    DESTINATION ${CMAKE_INSTALL_PREFIX}/include/lely
++)
++
++install(
++    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/lely_install/lib/
++    DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
++)
++
+ ament_export_include_directories(include)
+ ament_export_libraries(lely-can lely-co lely-coapp lely-ev lely-io2 lely-libc lely-tap lely-util)
+ ament_package(
diff --git a/shared/patch/ros2-lely-core-libraries.patch b/shared/patch/ros2-lely-core-libraries.patch
new file mode 100644
index 00000000..6c82f7dd
--- /dev/null
+++ b/shared/patch/ros2-lely-core-libraries.patch
@@ -0,0 +1,55 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 2af8ddb..330cd95 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -8,8 +8,8 @@ include(ExternalProject)
+ ExternalProject_Add(upstr_lely_core_libraries    # Name for custom target
+   #--Download step--------------
+   SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/upstream
+-  INSTALL_DIR "${CMAKE_INSTALL_PREFIX}"  # Installation prefix
+-  BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/build
++  INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/lely_install"  # Installation prefix
++  BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/lely
+   GIT_REPOSITORY https://gitlab.com/lely_industries/lely-core.git
+   GIT_TAG 9e3267d26018f6f6babd50786f6ae2af89cc57ea
+   TIMEOUT 60
+@@ -22,13 +22,13 @@ ExternalProject_Add(upstr_lely_core_libraries    # Name for custom target
+   CONFIGURE_COMMAND autoreconf -i <SOURCE_DIR>
+   COMMAND <SOURCE_DIR>/configure --prefix=<INSTALL_DIR> --disable-cython --disable-doc --disable-tests --disable-static --disable-diag
+   #BUILD STEP execute make
+-  BUILD_COMMAND $(MAKE) -C ${CMAKE_CURRENT_BINARY_DIR}/build
++  BUILD_COMMAND make -j
+   #INSTALL STEP do nothing as we install in main
+-  INSTALL_COMMAND ""
++  INSTALL_COMMAND make install VERBOSE=1
+ )
+ 
+ #INSTALL lely_core_libraries - execute make install
+-install(CODE "execute_process(COMMAND ${CMAKE_MAKE_PROGRAM} install VERBOSE=1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/build)")
++#install(CODE "execute_process(COMMAND ${CMAKE_MAKE_PROGRAM} install VERBOSE=1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/build)")
+ 
+ set(lely_core_cmake_DIR "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+ include("cmake/lely_core_libraries-extras.cmake" NO_POLICY_SCOPE)
+@@ -47,6 +47,22 @@ install(
+     DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+     USE_SOURCE_PERMISSIONS)
+ 
++install(
++    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/lely_install/bin/
++    USE_SOURCE_PERMISSIONS
++    DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
++)
++
++install(
++    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/lely_install/include/lely/
++    DESTINATION ${CMAKE_INSTALL_PREFIX}/include/lely
++)
++
++install(
++    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/lely_install/lib/
++    DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
++)
++
+ ament_export_include_directories(include)
+ ament_export_libraries(lely-can lely-co lely-coapp lely-ev lely-io2 lely-libc lely-tap lely-util)
+ ament_package(
diff --git a/shared/tests/ros2-lely-core-libraries.yaml b/shared/tests/ros2-lely-core-libraries.yaml
new file mode 100644
index 00000000..5fd4d6ff
--- /dev/null
+++ b/shared/tests/ros2-lely-core-libraries.yaml
@@ -0,0 +1,7 @@
+tests:
+  # Our patch installs lely from a staging directory: its libraries and headers must end up
+  # in the prefix.
+  - if: unix
+    then:
+      script:
+        - python -c "import glob, os; p = os.environ['PREFIX']; assert glob.glob(os.path.join(p, 'lib', 'liblely-coapp.*')), 'liblely-coapp'; assert os.path.isfile(os.path.join(p, 'include', 'lely', 'coapp', 'master.hpp')), 'lely/coapp/master.hpp'"
diff --git a/shared/vinca.yaml b/shared/vinca.yaml
index c93bc085..1592aae9 100644
--- a/shared/vinca.yaml
+++ b/shared/vinca.yaml
@@ -397,6 +397,7 @@ packages_select_by_deps:
       - avt_vimba_camera # ships some Linux .so in the repo, so it only supports linux
       - camera_ros # Depends on libcamera that is only available on linux; Depends on libcamera, only available on linux
       - can_dbc_parser
+      - canopen # macOS/Windows not tried yet; requested in https://github.com/RoboStack/ros-jazzy/pull/167
       - easynav
       - easynav_bonxai_maps_manager
       - easynav_common