diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index d7b9ad21..7e483dbf 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -82,5 +82,8 @@ packages_select_by_deps:
 
   - flex_sync
 
+  - ament_cmake_mypy
+  - rosbridge_suite
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index d0efe43b..0c0bdcd1 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -82,6 +82,9 @@ packages_select_by_deps:
 
   - flex_sync
 
+  - ament_cmake_mypy
+  - rosbridge_suite
+
 
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 3e7950c0..78b3afbc 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -91,6 +91,9 @@ packages_select_by_deps:
   - flex_sync
   - gripper_controllers
 
+  - ament_cmake_mypy
+  - rosbridge_suite
+
 
 
 patch_dir: patch
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index 7aabf44f..0219d9ba 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -40,6 +40,7 @@ skip_existing:
 packages_select_by_deps:
   - ament_cmake_core
   - ament_cmake_catch2
+  - ament_cmake_mypy
 
   - desktop
   - ros_base
@@ -91,5 +92,7 @@ packages_select_by_deps:
   - flex_sync
   - gripper_controllers
 
+  - rosbridge_suite
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_win.yaml b/vinca_win.yaml
index 1dec11a9..d845d2db 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -93,6 +93,9 @@ packages_select_by_deps:
   - rmw_zenoh_cpp
 
   - flex_sync
+  
+  - ament_cmake_mypy
+  - rosbridge_suite
 
 
 patch_dir: patch