diff --git a/Patches/Fast-CDR.patch b/Patches/Fast-CDR.patch
index 385649c..348ba23 100644
--- a/Patches/Fast-CDR.patch
+++ b/Patches/Fast-CDR.patch
@@ -65,7 +65,7 @@ index 25c8055..2bc69f7 100644
                  endif()
              endif()
 diff --git a/include/fastcdr/Cdr.h b/include/fastcdr/Cdr.h
-index 6e7bae1..3f8654a 100644
+index 6e7bae1..be02bb1 100644
 --- a/include/fastcdr/Cdr.h
 +++ b/include/fastcdr/Cdr.h
 @@ -19,16 +19,17 @@
@@ -613,7 +613,7 @@ index 6e7bae1..3f8654a 100644
              std::wstring*& sequence_t,
              size_t& numElements);
  
-+#if defined(_MSC_VER) || _LIBCPP_STD_VER >= 17
++#if defined(_MSC_VER) || __cplusplus >= 201703L
 +    Cdr& serializeBoolSequence(
 +            const std::pmr::vector<bool>& vector_t);
 +  
@@ -627,7 +627,7 @@ index 6e7bae1..3f8654a 100644
 +    Cdr& deserializeWStringSequence(
 +            std::pmr::wstring*& sequence_t,
 +            size_t& numElements);
-+#endif // defined(_MSC_VER) || _LIBCPP_STD_VER >= 17
++#endif // defined(_MSC_VER) || __cplusplus >= 201703L
 +
  #if HAVE_CXX0X
      /*!
@@ -647,14 +647,14 @@ index 26a6320..0d6fc59 100644
  #define CONSTEXPR const
  #endif
 diff --git a/src/cpp/Cdr.cpp b/src/cpp/Cdr.cpp
-index 4a8bb25..745a6f7 100644
+index 4a8bb25..97a477e 100644
 --- a/src/cpp/Cdr.cpp
 +++ b/src/cpp/Cdr.cpp
 @@ -2649,6 +2649,43 @@ Cdr& Cdr::serializeBoolSequence(
      return *this;
  }
  
-+#if defined(_MSC_VER) || _LIBCPP_STD_VER >= 17
++#if defined(_MSC_VER) || __cplusplus >= 201703L
 +Cdr& Cdr::serializeBoolSequence(
 +        const std::pmr::vector<bool>& vector_t)
 +{
@@ -698,7 +698,7 @@ index 4a8bb25..745a6f7 100644
      return *this;
  }
  
-+#if defined(_MSC_VER) || _LIBCPP_STD_VER >= 17
++#if defined(_MSC_VER) || __cplusplus >= 201703L
 +Cdr& Cdr::deserializeBoolSequence(
 +            std::pmr::vector<bool>& vector_t)
 +{
@@ -751,7 +751,7 @@ index 4a8bb25..745a6f7 100644
      return *this;
  }
  
-+#if defined(_MSC_VER) || _LIBCPP_STD_VER >= 17
++#if defined(_MSC_VER) || __cplusplus >= 201703L
 +Cdr& Cdr::deserializeStringSequence(
 +        std::pmr::string*& sequence_t,
 +        size_t& numElements)
@@ -787,7 +787,7 @@ index 4a8bb25..745a6f7 100644
      return *this;
  }
 +
-+#if defined(_MSC_VER) || _LIBCPP_STD_VER >= 17
++#if defined(_MSC_VER) || __cplusplus >= 201703L
 +Cdr& Cdr::deserializeWStringSequence(
 +        std::pmr::wstring*& sequence_t,
 +        size_t& numElements)
diff --git a/Patches/common_interfaces.patch b/Patches/common_interfaces.patch
index 225b54a..5f6a420 100644
--- a/Patches/common_interfaces.patch
+++ b/Patches/common_interfaces.patch
@@ -1,5 +1,5 @@
 diff --git a/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.hpp b/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.hpp
-index d766d0d..6d27770 100644
+index d766d0d..4cba089 100644
 --- a/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.hpp
 +++ b/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.hpp
 @@ -236,8 +236,9 @@ PointCloud2IteratorBase<T, TT, U, C, V>::PointCloud2IteratorBase()
@@ -13,7 +13,7 @@ index d766d0d..6d27770 100644
  {
    int offset = set_field(cloud_msg, field_name);
  
-@@ -347,8 +348,9 @@ V<T> PointCloud2IteratorBase<T, TT, U, C, V>::end() const
+@@ -347,16 +348,16 @@ V<T> PointCloud2IteratorBase<T, TT, U, C, V>::end() const
    * @return the offset at which the field is found
    */
  template<typename T, typename TT, typename U, typename C, template<typename> class V>
@@ -24,11 +24,13 @@ index d766d0d..6d27770 100644
  {
    is_bigendian_ = cloud_msg.is_bigendian;
    point_step_ = cloud_msg.point_step;
-@@ -356,7 +358,7 @@ int PointCloud2IteratorBase<T, TT, U, C, V>::set_field(
-   std::vector<sensor_msgs::msg::PointField>::const_iterator field_iter = cloud_msg.fields.begin(),
-     field_end =
-     cloud_msg.fields.end();
+   // make sure the channel is valid
+-  std::vector<sensor_msgs::msg::PointField>::const_iterator field_iter = cloud_msg.fields.begin(),
+-    field_end =
+-    cloud_msg.fields.end();
 -  while ((field_iter != field_end) && (field_iter->name != field_name)) {
++  auto field_iter = cloud_msg.fields.begin();
++  auto field_end = cloud_msg.fields.end();
 +  while ((field_iter != field_end) && (strcmp(field_iter->name.c_str(), field_name.c_str()) != 0)) {
      ++field_iter;
    }
diff --git a/Patches/geometry2.patch b/Patches/geometry2.patch
index 6de514a..1d89f78 100644
--- a/Patches/geometry2.patch
+++ b/Patches/geometry2.patch
@@ -10,6 +10,18 @@ index 5d32c060..c0d88090 100644
    <exec_depend>tf2_eigen</exec_depend>
    <exec_depend>tf2_eigen_kdl</exec_depend>
    <exec_depend>tf2_geometry_msgs</exec_depend>
+diff --git a/tf2/CMakeLists.txt b/tf2/CMakeLists.txt
+index afb90fb6..05aa113e 100644
+--- a/tf2/CMakeLists.txt
++++ b/tf2/CMakeLists.txt
+@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5)
+ project(tf2)
+ 
+ # Default to C++14
++set(CMAKE_CXX_STANDARD 20)
+ if(NOT CMAKE_CXX_STANDARD)
+   set(CMAKE_CXX_STANDARD 14)
+ endif()
 diff --git a/tf2/src/buffer_core.cpp b/tf2/src/buffer_core.cpp
 index c8c994e3..0402ead4 100644
 --- a/tf2/src/buffer_core.cpp
diff --git a/Patches/vision_opencv.patch b/Patches/vision_opencv.patch
index b84e529..85f0e43 100644
--- a/Patches/vision_opencv.patch
+++ b/Patches/vision_opencv.patch
@@ -1,3 +1,15 @@
+diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
+index c909dd1..e91cd4d 100644
+--- a/cv_bridge/CMakeLists.txt
++++ b/cv_bridge/CMakeLists.txt
+@@ -4,6 +4,7 @@ project(cv_bridge)
+ find_package(ament_cmake_ros REQUIRED)
+ 
+ # Default to C++14
++set(CMAKE_CXX_STANDARD 20)
+ if(NOT CMAKE_CXX_STANDARD)
+   set(CMAKE_CXX_STANDARD 14)
+ endif()
 diff --git a/cv_bridge/src/cv_bridge.cpp b/cv_bridge/src/cv_bridge.cpp
 index 0a2e4f5..fe74cf8 100644
 --- a/cv_bridge/src/cv_bridge.cpp
@@ -85,6 +97,18 @@ index 3d2a35a..1f6ff78 100644
    ASSERT_EQ(static_cast<int>(imgmsg.height), cv_ptr->image.rows);
    ASSERT_EQ(static_cast<int>(imgmsg.width), cv_ptr->image.cols);
    ASSERT_EQ(10, cv_ptr->image.channels());
+diff --git a/image_geometry/CMakeLists.txt b/image_geometry/CMakeLists.txt
+index 0e33091..ad8d707 100644
+--- a/image_geometry/CMakeLists.txt
++++ b/image_geometry/CMakeLists.txt
+@@ -7,6 +7,7 @@ find_package(ament_cmake_ros REQUIRED)
+ ament_python_install_package(${PROJECT_NAME})
+ 
+ # Default to C++14
++set(CMAKE_CXX_STANDARD 20)
+ if(NOT CMAKE_CXX_STANDARD)
+   set(CMAKE_CXX_STANDARD 14)
+ endif()
 diff --git a/image_geometry/include/image_geometry/pinhole_camera_model.h b/image_geometry/include/image_geometry/pinhole_camera_model.h
 index fdbecd7..2a82080 100644
 --- a/image_geometry/include/image_geometry/pinhole_camera_model.h
diff --git a/Scripts/build_rclcpp_mac.sh b/Scripts/build_rclcpp_mac.sh
index 2e271ed..dd1dfae 100755
--- a/Scripts/build_rclcpp_mac.sh
+++ b/Scripts/build_rclcpp_mac.sh
@@ -286,7 +286,7 @@ colcon build --packages-skip-by-dep python_qt_binding --packages-skip Boost Open
  " -DPythonExtra_INCLUDE_DIRS='$UNREAL_ENGINE_PATH/Engine/Source/ThirdParty/Python3/Mac/include'" \
  " -DPythonExtra_LIBRARIES='$UNREAL_ENGINE_PATH/Engine/Binaries/ThirdParty/Python3/Mac/libpython3.11.dylib'" \
  " -DPYTHON_LIBRARY='$UNREAL_ENGINE_PATH/Engine/Binaries/ThirdParty/Python3/Mac/libpython3.11.dylib'" \
- " -DPYTHON_INCLUDE_DIR='$UNREAL_ENGINE_PATH/Engine/Source/ThirdParty/Python3/Linux/include'" \
+ " -DPYTHON_INCLUDE_DIR='$UNREAL_ENGINE_PATH/Engine/Source/ThirdParty/Python3/Mac/include'" \
  " -DCMAKE_CXX_FLAGS=-isystem '$UNREAL_ENGINE_PATH/Engine/Source/ThirdParty/Python3/Mac/include' -mmacosx-version-min=10.15 -Wno-unused-command-line-argument -Wno-error=unused-command-line-argument" \
  " -DCMAKE_C_FLAGS=-isystem '$UNREAL_ENGINE_PATH/Engine/Source/ThirdParty/Python3/Mac/include' -mmacosx-version-min=10.15 -Wno-unused-command-line-argument -Wno-error=unused-command-line-argument" \
  " --no-warn-unused-cli"