diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index ee07dcd2..570395d2 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -74,7 +74,7 @@ tvm_vendor:
 libphidget22:
   add_host: ["libusb"]
 libg2o:
-  add_host: ["qt", "libglu", "freeglut"]
+  add_host: ["qt", "${{ 'libglu' if linux }}", "${{ 'freeglut' if not osx }}"]
 fmilibrary_vendor:
   add_host: ["fmilib"]
 mrpt2:
diff --git a/vinca.yaml b/vinca.yaml
index 5b0fdb22..aed120d7 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -264,6 +264,7 @@ packages_select_by_deps:
       - mocap4r2_marker_viz_srvs
       - mocap4r2_robot_gt
       - mocap4r2_robot_gt_msgs
+      - libg2o
 
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml