diff --git a/patch/ros-jazzy-ompl.patch b/patch/ros-jazzy-ompl.patch
new file mode 100644
index 00000000..daad9108
--- /dev/null
+++ b/patch/ros-jazzy-ompl.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 09fc750..2e4ff16 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -178,7 +178,7 @@ find_program(R_EXEC R)
+ 
+ add_subdirectory(src)
+ add_subdirectory(py-bindings)
+-add_subdirectory(tests)
++# add_subdirectory(tests)
+ add_subdirectory(demos)
+ add_subdirectory(scripts)
+ add_subdirectory(doc)
diff --git a/pixi.lock b/pixi.lock
index d55cfa90..71602827 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -13,6 +13,7 @@ environments:
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       - conda: https://repo.prefix.dev/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/c-ares-1.34.4-hb9d3cd8_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/ca-certificates-2024.12.14-hbcca054_0.conda
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       - conda: https://repo.prefix.dev/conda-forge/noarch/defusedxml-0.7.1-pyhd8ed1ab_0.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/git-2.47.1-pl5321h59d505e_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/h2-4.1.0-pyhd8ed1ab_1.conda
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       - conda: https://repo.prefix.dev/conda-forge/noarch/hyperframe-6.0.1-pyhd8ed1ab_1.conda
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       - conda: https://repo.prefix.dev/conda-forge/noarch/jupyter_core-5.7.2-pyh31011fe_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/keyutils-1.6.1-h166bdaf_0.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/ld_impl_linux-64-2.43-h712a8e2_2.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libcurl-8.11.1-h332b0f4_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libedit-3.1.20191231-he28a2e2_2.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libev-4.33-hd590300_2.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libexpat-2.6.4-h5888daf_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libffi-3.4.2-h7f98852_5.tar.bz2
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libgcc-14.2.0-h77fa898_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libgcc-ng-14.2.0-h69a702a_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libgomp-14.2.0-h77fa898_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libiconv-1.17-hd590300_2.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/liblzma-5.6.3-hb9d3cd8_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libnghttp2-1.64.0-h161d5f1_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libsqlite-3.47.2-hee588c1_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libssh2-1.11.1-hf672d98_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libstdcxx-14.2.0-hc0a3c3a_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libstdcxx-ng-14.2.0-h4852527_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libuuid-2.38.1-h0b41bf4_0.conda
@@ -47,6 +57,8 @@ environments:
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       - conda: https://repo.prefix.dev/conda-forge/linux-64/patchelf-0.17.2-h58526e2_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/pcre2-10.44-hba22ea6_2.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/perl-5.32.1-7_hd590300_perl5.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/pkgutil-resolve-name-1.3.10-pyhd8ed1ab_2.conda
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       - conda: https://repo.prefix.dev/conda-forge/noarch/pycparser-2.22-pyh29332c3_1.conda
@@ -95,6 +107,7 @@ environments:
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       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/bzip2-1.0.8-h68df207_7.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/c-ares-1.34.4-h86ecc28_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/ca-certificates-2024.12.14-hcefe29a_0.conda
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@@ -103,6 +116,7 @@ environments:
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       - conda: https://repo.prefix.dev/conda-forge/noarch/defusedxml-0.7.1-pyhd8ed1ab_0.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/git-2.47.1-pl5321h0e2bd52_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/h2-4.1.0-pyhd8ed1ab_1.conda
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       - conda: https://repo.prefix.dev/conda-forge/noarch/hyperframe-6.0.1-pyhd8ed1ab_1.conda
@@ -111,15 +125,23 @@ environments:
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       - conda: https://repo.prefix.dev/conda-forge/noarch/jsonschema-specifications-2024.10.1-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/jupyter_core-5.7.2-pyh31011fe_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/keyutils-1.6.1-h4e544f5_0.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/krb5-1.21.3-h50a48e9_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/ld_impl_linux-aarch64-2.43-h80caac9_2.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libcurl-8.11.1-h6702fde_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libedit-3.1.20191231-he28a2e2_2.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libev-4.33-h31becfc_2.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libexpat-2.6.4-h5ad3122_0.conda
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       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libgcc-14.2.0-he277a41_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libgcc-ng-14.2.0-he9431aa_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libgomp-14.2.0-he277a41_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libiconv-1.17-h31becfc_2.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/liblzma-5.6.3-h86ecc28_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libnghttp2-1.64.0-hc8609a4_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libnsl-2.0.1-h31becfc_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libsqlite-3.47.2-h5eb1b54_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libssh2-1.11.1-ha41c0db_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libstdcxx-14.2.0-h3f4de04_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libstdcxx-ng-14.2.0-hf1166c9_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libuuid-2.38.1-hb4cce97_0.conda
@@ -129,6 +151,8 @@ environments:
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       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/patchelf-0.17.2-h884eca8_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/pcre2-10.44-h070dd5b_2.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/perl-5.32.1-7_h31becfc_perl5.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/pkgutil-resolve-name-1.3.10-pyhd8ed1ab_2.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/platformdirs-4.3.6-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/pycparser-2.22-pyh29332c3_1.conda
@@ -176,6 +200,7 @@ environments:
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       - conda: https://repo.prefix.dev/conda-forge/osx-64/bzip2-1.0.8-hfdf4475_7.conda
+      - conda: https://repo.prefix.dev/conda-forge/osx-64/c-ares-1.34.4-hf13058a_0.conda
       - conda: https://repo.prefix.dev/conda-forge/osx-64/ca-certificates-2024.12.14-h8857fd0_0.conda
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@@ -184,6 +209,7 @@ environments:
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       - conda: https://repo.prefix.dev/conda-forge/noarch/defusedxml-0.7.1-pyhd8ed1ab_0.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/osx-64/git-2.47.1-pl5321h0e333bc_0.conda
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+      - conda: https://repo.prefix.dev/conda-forge/osx-64/libedit-3.1.20191231-h0678c8f_2.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/osx-64/libev-4.33-h10d778d_2.conda
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+      - conda: https://repo.prefix.dev/conda-forge/osx-64/libiconv-1.17-hd75f5a5_2.conda
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+      - conda: https://repo.prefix.dev/conda-forge/osx-64/pcre2-10.44-h7634a1b_2.conda
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+      - conda: https://repo.prefix.dev/conda-forge/osx-arm64/c-ares-1.34.4-h5505292_0.conda
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+- conda: https://repo.prefix.dev/conda-forge/linux-64/libnghttp2-1.64.0-h161d5f1_0.conda
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+  - libev >=4.33,<5.0a0
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 - conda: https://repo.prefix.dev/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda
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@@ -1594,6 +2143,54 @@ packages:
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+- conda: https://repo.prefix.dev/conda-forge/linux-aarch64/libssh2-1.11.1-ha41c0db_0.conda
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 - conda: https://repo.prefix.dev/conda-forge/noarch/pkgutil-resolve-name-1.3.10-pyhd8ed1ab_2.conda
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diff --git a/pixi.toml b/pixi.toml
index 8a85f679..bd22c51e 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -18,6 +18,7 @@ upload = "anaconda -t $ANACONDA_API_TOKEN upload"
 python = ">=3.11.0,<3.12"
 rattler-build = ">=0.33"
 anaconda-client = ">=1.12"
+git = ">=2.47.1,<3"
 
 [feature.beta.pypi-dependencies]
 # This is tipically the latest commit on rattler-build-humble branch