diff --git a/distros/humble/patch/ros2-rosidl-generator-c.patch b/distros/humble/patch/ros2-rosidl-generator-c.patch
new file mode 100644
index 00000000..bd073eeb
--- /dev/null
+++ b/distros/humble/patch/ros2-rosidl-generator-c.patch
@@ -0,0 +1,15 @@
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_generator_c_generate_interfaces.cmake b/cmake/rosidl_generator_c_generate_interfaces.cmake
+index b024fe0..2500186 100644
+--- a/cmake/rosidl_generator_c_generate_interfaces.cmake
++++ b/cmake/rosidl_generator_c_generate_interfaces.cmake
+@@ -149,7 +149,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.h"
++    PATTERN "*.c" EXCLUDE
+   )
+ 
+   # Export old-style CMake variables
diff --git a/distros/humble/patch/ros2-rosidl-generator-py.patch b/distros/humble/patch/ros2-rosidl-generator-py.patch
index 94d9d961..956da1b2 100644
--- a/distros/humble/patch/ros2-rosidl-generator-py.patch
+++ b/distros/humble/patch/ros2-rosidl-generator-py.patch
@@ -1,5 +1,7 @@
+egg-info written before the code is generated, backport of https://github.com/ament/ament_cmake/pull/587 and https://github.com/ros2/rosidl_python/pull/254
+
 diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
-index a6d8263..786d2a5 100644
+index a6d8263..0ef854e 100644
 --- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
 +++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
 @@ -17,10 +17,22 @@ find_package(rosidl_runtime_c REQUIRED)
@@ -28,7 +30,29 @@ index a6d8263..786d2a5 100644
  
  # Get a list of typesupport implementations from valid rmw implementations.
  rosidl_generator_py_get_typesupports(_typesupport_impls)
-@@ -164,7 +176,7 @@ set(rosidl_generator_py_suffix "__rosidl_generator_py")
+@@ -142,6 +154,21 @@ set_property(
+   ${_generated_extension_files} ${_generated_py_files} ${_generated_c_files}
+   PROPERTY GENERATED 1)
+ 
++# ament_python_install_package() copies (or symlinks) the package directory
++# into the build directory and runs `setup.py egg_info` on it. Do that only
++# after the Python code has been generated, otherwise the egg-info (e.g.
++# SOURCES.txt) lists only __init__.py. Fixed upstream in rolling by
++# ament/ament_cmake#587 and ros2/rosidl_python#254.
++if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
++  foreach(_copy_target
++      ament_cmake_python_copy_${PROJECT_NAME}
++      ament_cmake_python_symlink_${PROJECT_NAME})
++    if(TARGET ${_copy_target})
++      add_dependencies(${_copy_target} ${rosidl_generate_interfaces_TARGET}${_target_suffix})
++    endif()
++  endforeach()
++endif()
++
+ macro(set_properties _build_type)
+   set_target_properties(${_target_name} PROPERTIES
+     COMPILE_OPTIONS "${_extension_compile_flags}"
+@@ -164,7 +191,7 @@ set(rosidl_generator_py_suffix "__rosidl_generator_py")
  
  set(_target_name_lib "${rosidl_generate_interfaces_TARGET}${rosidl_generator_py_suffix}")
  add_library(${_target_name_lib} SHARED ${_generated_c_files})
@@ -37,7 +61,7 @@ index a6d8263..786d2a5 100644
    ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c)
  add_dependencies(
    ${_target_name_lib}
-@@ -172,45 +184,24 @@ add_dependencies(
+@@ -172,45 +199,24 @@ add_dependencies(
    ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
  )
  
@@ -92,7 +116,7 @@ index a6d8263..786d2a5 100644
  
  foreach(_typesupport_impl ${_typesupport_impls})
    find_package(${_typesupport_impl} REQUIRED)
-@@ -223,7 +214,7 @@ foreach(_typesupport_impl ${_typesupport_impls})
+@@ -223,7 +229,7 @@ foreach(_typesupport_impl ${_typesupport_impls})
    set(_pyext_suffix "__pyext")
    set(_target_name "${PROJECT_NAME}__${_typesupport_impl}${_pyext_suffix}")
  
@@ -101,7 +125,7 @@ index a6d8263..786d2a5 100644
      ${_generated_extension_${_typesupport_impl}_files}
    )
    add_dependencies(
-@@ -244,39 +235,28 @@ foreach(_typesupport_impl ${_typesupport_impls})
+@@ -244,39 +250,28 @@ foreach(_typesupport_impl ${_typesupport_impls})
      set_properties("_RELWITHDEBINFO")
    endif()
    target_link_libraries(
@@ -148,7 +172,7 @@ index a6d8263..786d2a5 100644
  
    if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
      install(TARGETS ${_target_name}
-@@ -288,7 +268,7 @@ set(PYTHON_EXECUTABLE ${_PYTHON_EXECUTABLE})
+@@ -288,7 +283,7 @@ set(PYTHON_EXECUTABLE ${_PYTHON_EXECUTABLE})
  
  # Depend on rosidl_generator_py generated targets from our dependencies
  foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
@@ -157,7 +181,7 @@ index a6d8263..786d2a5 100644
  endforeach()
  
  set_lib_properties("")
-@@ -305,9 +285,22 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+@@ -305,9 +300,22 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
      LIBRARY DESTINATION lib
      RUNTIME DESTINATION bin)
  
diff --git a/distros/humble/patch/ros2-rosidl-typesupport-introspection-c.patch b/distros/humble/patch/ros2-rosidl-typesupport-introspection-c.patch
new file mode 100644
index 00000000..4099c6a3
--- /dev/null
+++ b/distros/humble/patch/ros2-rosidl-typesupport-introspection-c.patch
@@ -0,0 +1,15 @@
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake b/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
+index 26e0974..f131e75 100644
+--- a/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
++++ b/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
+@@ -141,7 +141,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.h"
++    PATTERN "*.c" EXCLUDE
+   )
+   install(
+     TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
diff --git a/distros/humble/patch/ros2-rosidl-typesupport-introspection-cpp.patch b/distros/humble/patch/ros2-rosidl-typesupport-introspection-cpp.patch
new file mode 100644
index 00000000..e12acbc8
--- /dev/null
+++ b/distros/humble/patch/ros2-rosidl-typesupport-introspection-cpp.patch
@@ -0,0 +1,15 @@
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake b/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+index 88f6c6a..32fe845 100644
+--- a/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
++++ b/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+@@ -140,7 +140,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.hpp"
++    PATTERN "*.cpp" EXCLUDE
+   )
+ 
+   install(
diff --git a/distros/humble/pkg_additional_info.yaml b/distros/humble/pkg_additional_info.yaml
index 4fa48a11..fcae1feb 100644
--- a/distros/humble/pkg_additional_info.yaml
+++ b/distros/humble/pkg_additional_info.yaml
@@ -109,3 +109,11 @@ ament_cmake_gmock:  # as ament_cmake_gtest
   build_number: 23
 ament_cmake_gtest:  # uses conda-forge's gtest instead of gtest_vendor's sources
   build_number: 23
+rosidl_generator_c:
+  build_number: 24
+rosidl_generator_py:
+  build_number: 24
+rosidl_typesupport_introspection_c:
+  build_number: 24
+rosidl_typesupport_introspection_cpp:
+  build_number: 24
diff --git a/distros/jazzy/patch/ros2-rosidl-generator-c.patch b/distros/jazzy/patch/ros2-rosidl-generator-c.patch
new file mode 100644
index 00000000..610a0b62
--- /dev/null
+++ b/distros/jazzy/patch/ros2-rosidl-generator-c.patch
@@ -0,0 +1,30 @@
+Type descriptions out of date on incremental builds: https://github.com/ros2/rosidl/pull/1018
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_generator_c_generate_interfaces.cmake b/cmake/rosidl_generator_c_generate_interfaces.cmake
+index 8bab169..7ac96d2 100644
+--- a/cmake/rosidl_generator_c_generate_interfaces.cmake
++++ b/cmake/rosidl_generator_c_generate_interfaces.cmake
+@@ -78,6 +78,13 @@ foreach(dep ${target_dependencies})
+   endif()
+ endforeach()
+ 
++# The generated code embeds the type descriptions of this package, which are
++# only generated at build time, so add them after the existence check
++foreach(_tuple ${${rosidl_generate_interfaces_TARGET}__DESCRIPTION_TUPLES})
++  string(REGEX REPLACE "^[^:]*:(.*)$" "\\1" _type_description_file "${_tuple}")
++  list(APPEND target_dependencies "${_type_description_file}")
++endforeach()
++
+ get_target_property(_target_sources ${rosidl_generate_interfaces_TARGET} SOURCES)
+ set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c__arguments.json")
+ rosidl_write_generator_arguments(
+@@ -185,7 +192,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.h"
++    PATTERN "*.c" EXCLUDE
+   )
+ 
+   # Export old-style CMake variables
diff --git a/distros/jazzy/patch/ros2-rosidl-generator-cpp.patch b/distros/jazzy/patch/ros2-rosidl-generator-cpp.patch
new file mode 100644
index 00000000..0e80c0b9
--- /dev/null
+++ b/distros/jazzy/patch/ros2-rosidl-generator-cpp.patch
@@ -0,0 +1,20 @@
+Type descriptions out of date on incremental builds: https://github.com/ros2/rosidl/pull/1018
+
+diff --git a/cmake/rosidl_generator_cpp_generate_interfaces.cmake b/cmake/rosidl_generator_cpp_generate_interfaces.cmake
+index 864ed78..570a044 100644
+--- a/cmake/rosidl_generator_cpp_generate_interfaces.cmake
++++ b/cmake/rosidl_generator_cpp_generate_interfaces.cmake
+@@ -82,6 +82,13 @@ foreach(dep ${target_dependencies})
+   endif()
+ endforeach()
+ 
++# The generated code embeds the type hashes of this package, which are only
++# generated at build time, so add them after the existence check
++foreach(_tuple ${${rosidl_generate_interfaces_TARGET}__DESCRIPTION_TUPLES})
++  string(REGEX REPLACE "^[^:]*:(.*)$" "\\1" _type_description_file "${_tuple}")
++  list(APPEND target_dependencies "${_type_description_file}")
++endforeach()
++
+ set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp__arguments.json")
+ rosidl_write_generator_arguments(
+   "${generator_arguments_file}"
diff --git a/distros/jazzy/patch/ros2-rosidl-generator-py.patch b/distros/jazzy/patch/ros2-rosidl-generator-py.patch
index 193ed415..5fa36227 100644
--- a/distros/jazzy/patch/ros2-rosidl-generator-py.patch
+++ b/distros/jazzy/patch/ros2-rosidl-generator-py.patch
@@ -1,5 +1,8 @@
+egg-info written before the code is generated, backport of https://github.com/ament/ament_cmake/pull/587 and https://github.com/ros2/rosidl_python/pull/254
+Duplicate extension modules in Release/ on Windows: https://github.com/ros2/rosidl_python/pull/272
+
 diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
-index cfc424a..1808ad5 100644
+index cfc424a..11b78dc 100644
 --- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
 +++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
 @@ -21,6 +21,11 @@ find_package(rosidl_typesupport_interface REQUIRED)
@@ -14,7 +17,29 @@ index cfc424a..1808ad5 100644
  # Get a list of typesupport implementations from valid rmw implementations.
  rosidl_generator_py_get_typesupports(_typesupport_impls)
  
-@@ -146,10 +151,13 @@ add_dependencies(
+@@ -136,6 +141,21 @@ set_property(
+   ${_generated_extension_files} ${_generated_py_files} ${_generated_c_files}
+   PROPERTY GENERATED 1)
+ 
++# ament_python_install_package() copies (or symlinks) the package directory
++# into the build directory and runs `setup.py egg_info` on it. Do that only
++# after the Python code has been generated, otherwise the egg-info (e.g.
++# SOURCES.txt) lists only __init__.py. Fixed upstream in rolling by
++# ament/ament_cmake#587 and ros2/rosidl_python#254.
++if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
++  foreach(_copy_target
++      ament_cmake_python_copy_${PROJECT_NAME}
++      ament_cmake_python_symlink_${PROJECT_NAME})
++    if(TARGET ${_copy_target})
++      add_dependencies(${_copy_target} ${rosidl_generate_interfaces_TARGET}${_target_suffix})
++    endif()
++  endforeach()
++endif()
++
+ set(_target_name_lib "${rosidl_generate_interfaces_TARGET}__rosidl_generator_py")
+ add_library(${_target_name_lib} SHARED ${_generated_c_files})
+ target_link_libraries(${_target_name_lib} PRIVATE
+@@ -146,10 +166,13 @@ add_dependencies(
    ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
  )
  
@@ -29,7 +54,22 @@ index cfc424a..1808ad5 100644
  )
  target_include_directories(${_target_name_lib}
    PRIVATE
-@@ -243,9 +251,22 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+@@ -189,9 +212,12 @@ foreach(_typesupport_impl ${_typesupport_impls})
+   # TODO(sloretz) use target_compile_options when python extension passes -Wpedantic
+   set_target_properties(${_target_name} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}")
+ 
++  # Multi-config generators append a per-configuration subdirectory unless the
++  # output directory contains a generator expression. That subdirectory would
++  # end up in the Python package, which is installed as a whole.
+   set_target_properties(${_target_name} PROPERTIES
+-    LIBRARY_OUTPUT_DIRECTORY ${_output_path}
+-    RUNTIME_OUTPUT_DIRECTORY ${_output_path})
++    LIBRARY_OUTPUT_DIRECTORY "$<1:${_output_path}>"
++    RUNTIME_OUTPUT_DIRECTORY "$<1:${_output_path}>")
+ 
+   target_link_libraries(
+     ${_target_name} PRIVATE
+@@ -243,9 +269,22 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
      LIBRARY DESTINATION lib
      RUNTIME DESTINATION bin)
  
diff --git a/distros/jazzy/patch/ros2-rosidl-generator-type-description.patch b/distros/jazzy/patch/ros2-rosidl-generator-type-description.patch
new file mode 100644
index 00000000..85bdfe78
--- /dev/null
+++ b/distros/jazzy/patch/ros2-rosidl-generator-type-description.patch
@@ -0,0 +1,19 @@
+Type descriptions out of date on incremental builds: https://github.com/ros2/rosidl/pull/1018
+
+diff --git a/cmake/rosidl_generator_type_description_generate_interfaces.cmake b/cmake/rosidl_generator_type_description_generate_interfaces.cmake
+index ed29cda..5375a3a 100644
+--- a/cmake/rosidl_generator_type_description_generate_interfaces.cmake
++++ b/cmake/rosidl_generator_type_description_generate_interfaces.cmake
+@@ -52,6 +52,12 @@ foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+   set(_include_path "${${_pkg_name}_DIR}/..")
+   normalize_path(_include_path "${_include_path}")
+   list(APPEND _dependency_paths "${_pkg_name}:${_include_path}")
++  # The generator reads the type descriptions of referenced types from the
++  # .json files installed next to the dependency's .idl files
++  foreach(_idl_file ${${_pkg_name}_IDL_FILES})
++    string(REGEX REPLACE "\\.idl$" ".json" _json_file "${_idl_file}")
++    list(APPEND _dependency_files "${_include_path}/${_json_file}")
++  endforeach()
+ endforeach()
+ 
+ # Export __DESCRIPTION_TUPLES variable for use by dependent generators
diff --git a/distros/jazzy/patch/ros2-rosidl-typesupport-introspection-c.patch b/distros/jazzy/patch/ros2-rosidl-typesupport-introspection-c.patch
new file mode 100644
index 00000000..725ff6ab
--- /dev/null
+++ b/distros/jazzy/patch/ros2-rosidl-typesupport-introspection-c.patch
@@ -0,0 +1,15 @@
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake b/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
+index dfad37a..0155ed6 100644
+--- a/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
++++ b/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
+@@ -163,7 +163,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.h"
++    PATTERN "*.c" EXCLUDE
+   )
+   install(
+     TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
diff --git a/distros/jazzy/patch/ros2-rosidl-typesupport-introspection-cpp.patch b/distros/jazzy/patch/ros2-rosidl-typesupport-introspection-cpp.patch
new file mode 100644
index 00000000..55e7a719
--- /dev/null
+++ b/distros/jazzy/patch/ros2-rosidl-typesupport-introspection-cpp.patch
@@ -0,0 +1,15 @@
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake b/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+index daedc90..a44c8ee 100644
+--- a/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
++++ b/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+@@ -157,7 +157,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.hpp"
++    PATTERN "*.cpp" EXCLUDE
+   )
+ 
+   install(
diff --git a/distros/jazzy/pkg_additional_info.yaml b/distros/jazzy/pkg_additional_info.yaml
index abcf91cd..7a44d5e8 100644
--- a/distros/jazzy/pkg_additional_info.yaml
+++ b/distros/jazzy/pkg_additional_info.yaml
@@ -135,6 +135,18 @@ ament_cmake_gtest:  # uses conda-forge's gtest instead of gtest_vendor's sources
   build_number: 28
 gz_ogre_next_vendor:
   build_number: 28
+rosidl_generator_c:
+  build_number: 29
+rosidl_generator_cpp:
+  build_number: 29
+rosidl_generator_py:
+  build_number: 29
+rosidl_generator_type_description:
+  build_number: 29
+rosidl_typesupport_introspection_c:
+  build_number: 29
+rosidl_typesupport_introspection_cpp:
+  build_number: 29
 rviz_ogre_vendor:
   additional_cmake_args: "-DRVIZ_OGRE_VENDOR_MANGLE_NAME_OF_LIBRARIES_USED_BY_RVIZ=ON"
   build_number: 28  # built without the EXR codec (ros2-rviz-ogre-vendor.patch)
diff --git a/distros/lyrical/patch/ros2-rosidl-generator-c.patch b/distros/lyrical/patch/ros2-rosidl-generator-c.patch
new file mode 100644
index 00000000..610a0b62
--- /dev/null
+++ b/distros/lyrical/patch/ros2-rosidl-generator-c.patch
@@ -0,0 +1,30 @@
+Type descriptions out of date on incremental builds: https://github.com/ros2/rosidl/pull/1018
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_generator_c_generate_interfaces.cmake b/cmake/rosidl_generator_c_generate_interfaces.cmake
+index 8bab169..7ac96d2 100644
+--- a/cmake/rosidl_generator_c_generate_interfaces.cmake
++++ b/cmake/rosidl_generator_c_generate_interfaces.cmake
+@@ -78,6 +78,13 @@ foreach(dep ${target_dependencies})
+   endif()
+ endforeach()
+ 
++# The generated code embeds the type descriptions of this package, which are
++# only generated at build time, so add them after the existence check
++foreach(_tuple ${${rosidl_generate_interfaces_TARGET}__DESCRIPTION_TUPLES})
++  string(REGEX REPLACE "^[^:]*:(.*)$" "\\1" _type_description_file "${_tuple}")
++  list(APPEND target_dependencies "${_type_description_file}")
++endforeach()
++
+ get_target_property(_target_sources ${rosidl_generate_interfaces_TARGET} SOURCES)
+ set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c__arguments.json")
+ rosidl_write_generator_arguments(
+@@ -185,7 +192,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.h"
++    PATTERN "*.c" EXCLUDE
+   )
+ 
+   # Export old-style CMake variables
diff --git a/distros/lyrical/patch/ros2-rosidl-generator-cpp.patch b/distros/lyrical/patch/ros2-rosidl-generator-cpp.patch
new file mode 100644
index 00000000..0e80c0b9
--- /dev/null
+++ b/distros/lyrical/patch/ros2-rosidl-generator-cpp.patch
@@ -0,0 +1,20 @@
+Type descriptions out of date on incremental builds: https://github.com/ros2/rosidl/pull/1018
+
+diff --git a/cmake/rosidl_generator_cpp_generate_interfaces.cmake b/cmake/rosidl_generator_cpp_generate_interfaces.cmake
+index 864ed78..570a044 100644
+--- a/cmake/rosidl_generator_cpp_generate_interfaces.cmake
++++ b/cmake/rosidl_generator_cpp_generate_interfaces.cmake
+@@ -82,6 +82,13 @@ foreach(dep ${target_dependencies})
+   endif()
+ endforeach()
+ 
++# The generated code embeds the type hashes of this package, which are only
++# generated at build time, so add them after the existence check
++foreach(_tuple ${${rosidl_generate_interfaces_TARGET}__DESCRIPTION_TUPLES})
++  string(REGEX REPLACE "^[^:]*:(.*)$" "\\1" _type_description_file "${_tuple}")
++  list(APPEND target_dependencies "${_type_description_file}")
++endforeach()
++
+ set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp__arguments.json")
+ rosidl_write_generator_arguments(
+   "${generator_arguments_file}"
diff --git a/distros/lyrical/patch/ros2-rosidl-generator-py.patch b/distros/lyrical/patch/ros2-rosidl-generator-py.patch
index e6fcb610..af5573fd 100644
--- a/distros/lyrical/patch/ros2-rosidl-generator-py.patch
+++ b/distros/lyrical/patch/ros2-rosidl-generator-py.patch
@@ -1,5 +1,7 @@
+Duplicate extension modules in Release/ on Windows: https://github.com/ros2/rosidl_python/pull/272
+
 diff --git a/cmake/rosidl_generator_py_generate_interfaces.cmake b/cmake/rosidl_generator_py_generate_interfaces.cmake
-index 2fe245b..24eb493 100644
+index 2fe245b..3f1be8c 100644
 --- a/cmake/rosidl_generator_py_generate_interfaces.cmake
 +++ b/cmake/rosidl_generator_py_generate_interfaces.cmake
 @@ -35,6 +35,11 @@ set(Python3_FIND_UNVERSIONED_NAMES FIRST)
@@ -29,7 +31,22 @@ index 2fe245b..24eb493 100644
  )
  target_include_directories(${_target_name_lib}
    PRIVATE
-@@ -257,9 +265,22 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+@@ -207,9 +215,12 @@ foreach(_typesupport_impl ${_typesupport_impls})
+   # TODO(sloretz) use target_compile_options when python extension passes -Wpedantic
+   set_target_properties(${_target_name} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}")
+ 
++  # Multi-config generators append a per-configuration subdirectory unless the
++  # output directory contains a generator expression. That subdirectory would
++  # end up in the Python package, which is installed as a whole.
+   set_target_properties(${_target_name} PROPERTIES
+-    LIBRARY_OUTPUT_DIRECTORY ${_output_path}
+-    RUNTIME_OUTPUT_DIRECTORY ${_output_path})
++    LIBRARY_OUTPUT_DIRECTORY "$<1:${_output_path}>"
++    RUNTIME_OUTPUT_DIRECTORY "$<1:${_output_path}>")
+ 
+   target_link_libraries(
+     ${_target_name} PRIVATE
+@@ -257,9 +268,22 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
      LIBRARY DESTINATION lib
      RUNTIME DESTINATION bin)
  
diff --git a/distros/lyrical/patch/ros2-rosidl-generator-type-description.patch b/distros/lyrical/patch/ros2-rosidl-generator-type-description.patch
new file mode 100644
index 00000000..88f8da69
--- /dev/null
+++ b/distros/lyrical/patch/ros2-rosidl-generator-type-description.patch
@@ -0,0 +1,19 @@
+Type descriptions out of date on incremental builds: https://github.com/ros2/rosidl/pull/1018
+
+diff --git a/cmake/rosidl_generator_type_description_generate_interfaces.cmake b/cmake/rosidl_generator_type_description_generate_interfaces.cmake
+index 0e420f1..67d6b91 100644
+--- a/cmake/rosidl_generator_type_description_generate_interfaces.cmake
++++ b/cmake/rosidl_generator_type_description_generate_interfaces.cmake
+@@ -52,6 +52,12 @@ foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+   set(_include_path "${${_pkg_name}_DIR}/..")
+   normalize_path(_include_path "${_include_path}")
+   list(APPEND _dependency_paths "${_pkg_name}:${_include_path}")
++  # The generator reads the type descriptions of referenced types from the
++  # .json files installed next to the dependency's .idl files
++  foreach(_idl_file ${${_pkg_name}_IDL_FILES})
++    string(REGEX REPLACE "\\.idl$" ".json" _json_file "${_idl_file}")
++    list(APPEND _dependency_files "${_include_path}/${_json_file}")
++  endforeach()
+ endforeach()
+ 
+ # Export __DESCRIPTION_TUPLES variable for use by dependent generators
diff --git a/distros/lyrical/patch/ros2-rosidl-typesupport-introspection-c.patch b/distros/lyrical/patch/ros2-rosidl-typesupport-introspection-c.patch
new file mode 100644
index 00000000..f26fd368
--- /dev/null
+++ b/distros/lyrical/patch/ros2-rosidl-typesupport-introspection-c.patch
@@ -0,0 +1,15 @@
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake b/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
+index aaf9254..2812af3 100644
+--- a/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
++++ b/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
+@@ -172,7 +172,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.h"
++    PATTERN "*.c" EXCLUDE
+   )
+   install(
+     TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
diff --git a/distros/lyrical/patch/ros2-rosidl-typesupport-introspection-cpp.patch b/distros/lyrical/patch/ros2-rosidl-typesupport-introspection-cpp.patch
new file mode 100644
index 00000000..c4830f82
--- /dev/null
+++ b/distros/lyrical/patch/ros2-rosidl-typesupport-introspection-cpp.patch
@@ -0,0 +1,15 @@
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake b/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+index ed1a3a6..ddb3b7b 100644
+--- a/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
++++ b/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+@@ -166,7 +166,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.hpp"
++    PATTERN "*.cpp" EXCLUDE
+   )
+ 
+   install(
diff --git a/distros/lyrical/pkg_additional_info.yaml b/distros/lyrical/pkg_additional_info.yaml
index 4b86a893..d8af4e01 100644
--- a/distros/lyrical/pkg_additional_info.yaml
+++ b/distros/lyrical/pkg_additional_info.yaml
@@ -113,6 +113,18 @@ urdfdom_headers:
 zenoh_cpp_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK -DUSE_SYSTEM_ZENOH=ON"
 # Remove build_number fields below on new full rebuild
+rosidl_generator_c:
+  build_number: 32
+rosidl_generator_cpp:
+  build_number: 32
+rosidl_generator_py:
+  build_number: 32
+rosidl_generator_type_description:
+  build_number: 32
+rosidl_typesupport_introspection_c:
+  build_number: 32
+rosidl_typesupport_introspection_cpp:
+  build_number: 32
 rviz_ogre_vendor:
   additional_cmake_args: "-DRVIZ_OGRE_VENDOR_MANGLE_NAME_OF_LIBRARIES_USED_BY_RVIZ=ON"
   build_number: 31  # built without the EXR codec (ros2-rviz-ogre-vendor.patch)
diff --git a/distros/rolling/patch/ros2-rosidl-generator-c.patch b/distros/rolling/patch/ros2-rosidl-generator-c.patch
new file mode 100644
index 00000000..610a0b62
--- /dev/null
+++ b/distros/rolling/patch/ros2-rosidl-generator-c.patch
@@ -0,0 +1,30 @@
+Type descriptions out of date on incremental builds: https://github.com/ros2/rosidl/pull/1018
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_generator_c_generate_interfaces.cmake b/cmake/rosidl_generator_c_generate_interfaces.cmake
+index 8bab169..7ac96d2 100644
+--- a/cmake/rosidl_generator_c_generate_interfaces.cmake
++++ b/cmake/rosidl_generator_c_generate_interfaces.cmake
+@@ -78,6 +78,13 @@ foreach(dep ${target_dependencies})
+   endif()
+ endforeach()
+ 
++# The generated code embeds the type descriptions of this package, which are
++# only generated at build time, so add them after the existence check
++foreach(_tuple ${${rosidl_generate_interfaces_TARGET}__DESCRIPTION_TUPLES})
++  string(REGEX REPLACE "^[^:]*:(.*)$" "\\1" _type_description_file "${_tuple}")
++  list(APPEND target_dependencies "${_type_description_file}")
++endforeach()
++
+ get_target_property(_target_sources ${rosidl_generate_interfaces_TARGET} SOURCES)
+ set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c__arguments.json")
+ rosidl_write_generator_arguments(
+@@ -185,7 +192,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.h"
++    PATTERN "*.c" EXCLUDE
+   )
+ 
+   # Export old-style CMake variables
diff --git a/distros/rolling/patch/ros2-rosidl-generator-cpp.patch b/distros/rolling/patch/ros2-rosidl-generator-cpp.patch
new file mode 100644
index 00000000..0e80c0b9
--- /dev/null
+++ b/distros/rolling/patch/ros2-rosidl-generator-cpp.patch
@@ -0,0 +1,20 @@
+Type descriptions out of date on incremental builds: https://github.com/ros2/rosidl/pull/1018
+
+diff --git a/cmake/rosidl_generator_cpp_generate_interfaces.cmake b/cmake/rosidl_generator_cpp_generate_interfaces.cmake
+index 864ed78..570a044 100644
+--- a/cmake/rosidl_generator_cpp_generate_interfaces.cmake
++++ b/cmake/rosidl_generator_cpp_generate_interfaces.cmake
+@@ -82,6 +82,13 @@ foreach(dep ${target_dependencies})
+   endif()
+ endforeach()
+ 
++# The generated code embeds the type hashes of this package, which are only
++# generated at build time, so add them after the existence check
++foreach(_tuple ${${rosidl_generate_interfaces_TARGET}__DESCRIPTION_TUPLES})
++  string(REGEX REPLACE "^[^:]*:(.*)$" "\\1" _type_description_file "${_tuple}")
++  list(APPEND target_dependencies "${_type_description_file}")
++endforeach()
++
+ set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp__arguments.json")
+ rosidl_write_generator_arguments(
+   "${generator_arguments_file}"
diff --git a/distros/rolling/patch/ros2-rosidl-generator-py.patch b/distros/rolling/patch/ros2-rosidl-generator-py.patch
index 0cf05c62..206641ec 100644
--- a/distros/rolling/patch/ros2-rosidl-generator-py.patch
+++ b/distros/rolling/patch/ros2-rosidl-generator-py.patch
@@ -1,5 +1,7 @@
+Duplicate extension modules in Release/ on Windows: https://github.com/ros2/rosidl_python/pull/272
+
 diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
-index 2fe245b..24eb493 100644
+index 2fe245b..3f1be8c 100644
 --- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
 +++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
 @@ -35,6 +35,11 @@ set(Python3_FIND_UNVERSIONED_NAMES FIRST)
@@ -29,7 +31,22 @@ index 2fe245b..24eb493 100644
  )
  target_include_directories(${_target_name_lib}
    PRIVATE
-@@ -257,9 +265,22 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+@@ -207,9 +215,12 @@ foreach(_typesupport_impl ${_typesupport_impls})
+   # TODO(sloretz) use target_compile_options when python extension passes -Wpedantic
+   set_target_properties(${_target_name} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}")
+ 
++  # Multi-config generators append a per-configuration subdirectory unless the
++  # output directory contains a generator expression. That subdirectory would
++  # end up in the Python package, which is installed as a whole.
+   set_target_properties(${_target_name} PROPERTIES
+-    LIBRARY_OUTPUT_DIRECTORY ${_output_path}
+-    RUNTIME_OUTPUT_DIRECTORY ${_output_path})
++    LIBRARY_OUTPUT_DIRECTORY "$<1:${_output_path}>"
++    RUNTIME_OUTPUT_DIRECTORY "$<1:${_output_path}>")
+ 
+   target_link_libraries(
+     ${_target_name} PRIVATE
+@@ -257,9 +268,22 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
      LIBRARY DESTINATION lib
      RUNTIME DESTINATION bin)
  
diff --git a/distros/rolling/patch/ros2-rosidl-generator-type-description.patch b/distros/rolling/patch/ros2-rosidl-generator-type-description.patch
new file mode 100644
index 00000000..88f8da69
--- /dev/null
+++ b/distros/rolling/patch/ros2-rosidl-generator-type-description.patch
@@ -0,0 +1,19 @@
+Type descriptions out of date on incremental builds: https://github.com/ros2/rosidl/pull/1018
+
+diff --git a/cmake/rosidl_generator_type_description_generate_interfaces.cmake b/cmake/rosidl_generator_type_description_generate_interfaces.cmake
+index 0e420f1..67d6b91 100644
+--- a/cmake/rosidl_generator_type_description_generate_interfaces.cmake
++++ b/cmake/rosidl_generator_type_description_generate_interfaces.cmake
+@@ -52,6 +52,12 @@ foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+   set(_include_path "${${_pkg_name}_DIR}/..")
+   normalize_path(_include_path "${_include_path}")
+   list(APPEND _dependency_paths "${_pkg_name}:${_include_path}")
++  # The generator reads the type descriptions of referenced types from the
++  # .json files installed next to the dependency's .idl files
++  foreach(_idl_file ${${_pkg_name}_IDL_FILES})
++    string(REGEX REPLACE "\\.idl$" ".json" _json_file "${_idl_file}")
++    list(APPEND _dependency_files "${_include_path}/${_json_file}")
++  endforeach()
+ endforeach()
+ 
+ # Export __DESCRIPTION_TUPLES variable for use by dependent generators
diff --git a/distros/rolling/patch/ros2-rosidl-typesupport-introspection-c.patch b/distros/rolling/patch/ros2-rosidl-typesupport-introspection-c.patch
new file mode 100644
index 00000000..f26fd368
--- /dev/null
+++ b/distros/rolling/patch/ros2-rosidl-typesupport-introspection-c.patch
@@ -0,0 +1,15 @@
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake b/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
+index aaf9254..2812af3 100644
+--- a/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
++++ b/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
+@@ -172,7 +172,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.h"
++    PATTERN "*.c" EXCLUDE
+   )
+   install(
+     TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
diff --git a/distros/rolling/patch/ros2-rosidl-typesupport-introspection-cpp.patch b/distros/rolling/patch/ros2-rosidl-typesupport-introspection-cpp.patch
new file mode 100644
index 00000000..c4830f82
--- /dev/null
+++ b/distros/rolling/patch/ros2-rosidl-typesupport-introspection-cpp.patch
@@ -0,0 +1,15 @@
+Generated .c/.cpp files installed into include/: https://github.com/ros2/rosidl/pull/1019
+
+diff --git a/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake b/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+index ed1a3a6..ddb3b7b 100644
+--- a/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
++++ b/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+@@ -166,7 +166,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+   install(
+     DIRECTORY ${_output_path}/
+     DESTINATION "include/${PROJECT_NAME}/${PROJECT_NAME}"
+-    PATTERN "*.hpp"
++    PATTERN "*.cpp" EXCLUDE
+   )
+ 
+   install(
diff --git a/distros/rolling/pkg_additional_info.yaml b/distros/rolling/pkg_additional_info.yaml
index 9f59fbcc..220ed04e 100644
--- a/distros/rolling/pkg_additional_info.yaml
+++ b/distros/rolling/pkg_additional_info.yaml
@@ -71,6 +71,18 @@ urdfdom_headers:
     override_version: '3.0.0'
 zenoh_cpp_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK -DUSE_SYSTEM_ZENOH=ON"
+rosidl_generator_c:
+  build_number: 34
+rosidl_generator_cpp:
+  build_number: 34
+rosidl_generator_py:
+  build_number: 34
+rosidl_generator_type_description:
+  build_number: 34
+rosidl_typesupport_introspection_c:
+  build_number: 34
+rosidl_typesupport_introspection_cpp:
+  build_number: 34
 rviz_ogre_vendor:
   additional_cmake_args: "-DRVIZ_OGRE_VENDOR_MANGLE_NAME_OF_LIBRARIES_USED_BY_RVIZ=ON"
   build_number: 33  # built without the EXR codec (ros2-rviz-ogre-vendor.patch)