diff --git a/patch/ros-noetic-catch-ros.patch b/patch/ros-noetic-catch-ros.patch
new file mode 100644
index 000000000..7171f96eb
--- /dev/null
+++ b/patch/ros-noetic-catch-ros.patch
@@ -0,0 +1,24 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e8e8f70..fa1f242 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -20,6 +20,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ 
+ add_library(catch_ros_standalone
+ 	src/standalone_main.cpp
++	src/meta_info.cpp
+ )
+ target_link_libraries(catch_ros_standalone
+ 	${Boost_LIBRARIES}
+@@ -27,9 +28,11 @@ target_link_libraries(catch_ros_standalone
+ 
+ add_library(catch_ros_rostest
+ 	src/rostest_main.cpp
++	src/meta_info.cpp
+ )
+ target_link_libraries(catch_ros_rostest
+ 	${Boost_LIBRARIES}
++	${catkin_LIBRARIES}
+ )
+ 
+ install(FILES src/meta_info.cpp DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/patch/ros-noetic-rosfmt.patch b/patch/ros-noetic-rosfmt.patch
new file mode 100644
index 000000000..fd9f550f0
--- /dev/null
+++ b/patch/ros-noetic-rosfmt.patch
@@ -0,0 +1,93 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 87b8d9b..df90eb9 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -7,74 +7,26 @@ find_package(catkin REQUIRED COMPONENTS
+ 	rosconsole
+ )
+ 
+-# Get fmt from an official release
+-include(ExternalProject)
+-ExternalProject_Add(
+-	fmt
+-	URL https://github.com/fmtlib/fmt/releases/download/9.1.0/fmt-9.1.0.zip
+-	URL_HASH SHA256=cceb4cb9366e18a5742128cb3524ce5f50e88b476f1e54737a47ffdf4df4c996
+-	CONFIGURE_COMMAND ""
+-
+-	# We touch all downloaded files, otherwise they get some timestamp in the
+-	# past and may confuse the dependency tracking below.
+-	BUILD_COMMAND find <SOURCE_DIR> -type f -exec touch {} +
+-	INSTALL_COMMAND ""
+-)
+-
+-# Now extract the needed files. We need to copy headers to the devel space
+-# b/c of catkin policies (they count as "generated headers").
+-ExternalProject_Get_property(fmt SOURCE_DIR)
+-set(fmt_SOURCE_DIR "${SOURCE_DIR}")
+-set(fmt_HEADER_DEST "${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}")
+-
+-file(MAKE_DIRECTORY ${fmt_HEADER_DEST})
+-foreach(FILE args.h chrono.h color.h compile.h core.h format-inl.h format.h os.h ostream.h printf.h ranges.h std.h xchar.h)
+-	set(in "${fmt_SOURCE_DIR}/include/fmt/${FILE}")
+-	set(out "${fmt_HEADER_DEST}/fmt/${FILE}")
+-	list(APPEND fmt_HEADERS_OUT ${out})
+-
+-	set_source_files_properties(${in} PROPERTIES GENERATED TRUE)
+-	set_source_files_properties(${out} PROPERTIES GENERATED TRUE)
+-
+-	add_custom_command(
+-		OUTPUT ${out}
+-		DEPENDS ${in} fmt
+-		COMMAND cmake -E copy_if_different "${in}" "${out}"
+-	)
+-endforeach()
+-
+-add_custom_target(fmt_headers
+-	DEPENDS ${fmt_HEADERS_OUT}
+-)
++find_package(fmt REQUIRED)
+ 
+ catkin_package(
+-	INCLUDE_DIRS include ${fmt_HEADER_DEST}
++	INCLUDE_DIRS include
+ 	CATKIN_DEPENDS roscpp rosconsole
+ 	LIBRARIES rosfmt9
+ )
+ 
+ include_directories(
+-	${fmt_HEADER_DEST}
+ 	include
+ 	${catkin_INCLUDE_DIRS}
+ )
+ 
+-set_source_files_properties(
+-	${fmt_SOURCE_DIR}/src/format.cc
+-	${fmt_SOURCE_DIR}/src/os.cc
+-	PROPERTIES GENERATED TRUE
+-)
+-
+ add_library(rosfmt9
+-	${fmt_HEADERS_OUT}
+-	${fmt_SOURCE_DIR}/src/format.cc
+-	${fmt_SOURCE_DIR}/src/os.cc
+ 	src/rosfmt.cpp
+ )
+ target_link_libraries(rosfmt9
+ 	${catkin_LIBRARIES}
++	fmt::fmt
+ )
+-add_dependencies(rosfmt9 fmt fmt_headers)
+ 
+ if(CATKIN_ENABLE_TESTING)
+ 	add_executable(simple_test
+@@ -91,10 +43,6 @@ if(CATKIN_ENABLE_TESTING)
+ 	add_dependencies(run_tests run_simple_test)
+ endif()
+ 
+-install(
+-	DIRECTORY ${fmt_HEADER_DEST}/fmt/
+-	DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/fmt
+-)
+ install(
+ 	DIRECTORY include/rosfmt/
+ 	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index 9e57fdf4e..cdda5b60e 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -224,15 +224,13 @@ packages_select_by_deps:
   - audio-common-msgs
   - sound-play
   - pid
+  - rosfmt
+  - rosmon
 
   # Needs fixing in CI, uploaded manually
   - rtabmap
   - rtabmap-ros
 
-  # Used to work on robostack-staging, now broken
-  # - rosfmt  # see https://github.com/xqms/rosfmt/issues/12
-  # - rosmon  # because of https://github.com/xqms/rosfmt/issues/12
-
   # Not compatible with recent libabsl
   # - libfranka
   # - franka
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index 5ec931b32..9a784e88c 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -145,5 +145,6 @@ packages_select_by_deps:
   - slam-toolbox
   - turtlebot3-teleop
   - move-base
+  - rosfmt
 
 patch_dir: patch