diff --git a/patch/ros-noetic-eigen-conversions.patch b/patch/ros-noetic-eigen-conversions.patch
new file mode 100644
index 000000000..ba877c5fc
--- /dev/null
+++ b/patch/ros-noetic-eigen-conversions.patch
@@ -0,0 +1,12 @@
+diff --git a/eigen_conversions/CMakeLists.txt b/eigen_conversions/CMakeLists.txt
+index d72b817f..938c8d52 100644
+--- a/eigen_conversions/CMakeLists.txt
++++ b/eigen_conversions/CMakeLists.txt
+@@ -28,4 +28,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+ 
+ install(TARGETS ${PROJECT_NAME}
+-  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
++  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/patch/ros-noetic-kdl-conversions.patch b/patch/ros-noetic-kdl-conversions.patch
new file mode 100644
index 000000000..df4220b03
--- /dev/null
+++ b/patch/ros-noetic-kdl-conversions.patch
@@ -0,0 +1,12 @@
+diff --git a/kdl_conversions/CMakeLists.txt b/kdl_conversions/CMakeLists.txt
+index 1d1d47dd..d7f2fff4 100644
+--- a/kdl_conversions/CMakeLists.txt
++++ b/kdl_conversions/CMakeLists.txt
+@@ -24,4 +24,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+ 
+ install(TARGETS ${PROJECT_NAME}
+-  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
++  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/patch/ros-noetic-resource-retriever.patch b/patch/ros-noetic-resource-retriever.patch
new file mode 100644
index 000000000..ff4be46fd
--- /dev/null
+++ b/patch/ros-noetic-resource-retriever.patch
@@ -0,0 +1,25 @@
+From e6ea3e979f6b4159152f33142d11a081fe32a48a Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio@traversaro.it>
+Date: Sun, 10 Mar 2024 21:51:07 +0100
+Subject: [PATCH] On Windows install .dll libraries in <prefix>/bin
+
+Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it>
+---
+ CMakeLists.txt | 4 +++-
+ 1 file changed, 3 insertions(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 359c9e8..28c8c44 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -34,7 +34,9 @@ if(CATKIN_ENABLE_TESTING)
+ endif()
+ 
+ install(TARGETS ${PROJECT_NAME}
+-  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
++  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+ 
+ install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
diff --git a/patch/ros-noetic-srdfdom.patch b/patch/ros-noetic-srdfdom.patch
new file mode 100644
index 000000000..2c71ffd90
--- /dev/null
+++ b/patch/ros-noetic-srdfdom.patch
@@ -0,0 +1,25 @@
+From 6e11bdad2b26d421bbde6623579d7bf35772cd78 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio@traversaro.it>
+Date: Sun, 10 Mar 2024 21:48:12 +0100
+Subject: [PATCH] On Windows install libraries in <prefix>/bin
+
+Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it>
+---
+ CMakeLists.txt | 4 +++-
+ 1 file changed, 3 insertions(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1059f3d..88c037c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -36,7 +36,9 @@ target_link_libraries(${PROJECT_NAME} ${TinyXML2_LIBRARIES} ${catkin_LIBRARIES}
+ 
+ 
+ install(TARGETS ${PROJECT_NAME}
+-  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+ )
+ install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
diff --git a/patch/ros-noetic-tf-conversions.patch b/patch/ros-noetic-tf-conversions.patch
new file mode 100644
index 000000000..20643e819
--- /dev/null
+++ b/patch/ros-noetic-tf-conversions.patch
@@ -0,0 +1,12 @@
+diff --git a/tf_conversions/CMakeLists.txt b/tf_conversions/CMakeLists.txt
+index 1ac2648d..eb2c1c25 100644
+--- a/tf_conversions/CMakeLists.txt
++++ b/tf_conversions/CMakeLists.txt
+@@ -48,4 +48,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+ 
+ install(TARGETS ${PROJECT_NAME}
+-  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
++  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
++  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})