diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index 1b2ebe5b..8e426801 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -150,3 +150,6 @@ ros_image_to_qimage:
   add_host: ["REQUIRE_OPENGL"]
 rqt_image_overlay:
   add_host: ["REQUIRE_OPENGL"]
+slam_toolbox:
+  add_build: [{sel(build_platform != target_platform): qt-main}]
+  add_host: ["REQUIRE_OPENGL"]
diff --git a/patch/ros-humble-slam-toolbox.patch b/patch/ros-humble-slam-toolbox.patch
deleted file mode 100644
index a8406abd..00000000
--- a/patch/ros-humble-slam-toolbox.patch
+++ /dev/null
@@ -1,12 +0,0 @@
-diff --git a/lib/karto_sdk/include/karto_sdk/Karto.h b/lib/karto_sdk/include/karto_sdk/Karto.h
-index c03f6757..85d1345c 100644
---- a/lib/karto_sdk/include/karto_sdk/Karto.h
-+++ b/lib/karto_sdk/include/karto_sdk/Karto.h
-@@ -50,6 +50,7 @@
- #include <sstream>
- #include <stdexcept>
- #include <shared_mutex>
-+#include <mutex>
- 
- #ifdef USE_POCO
- #include <Poco/Mutex.h>
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index eab76bed..a3bff3b2 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -127,7 +127,7 @@ packages_select_by_deps:
   # - ament-cmake-nose
   # - geographic_info
   # - geodesy
-  
+
   - rosbridge_suite
 
 
@@ -138,7 +138,7 @@ packages_select_by_deps:
 
   # - plotjuggler
   # - plotjuggler_ros
-  
+
   # - zmqpp_vendor
 
   # - fogros2
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 9300da80..d0cb30c0 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -64,6 +64,8 @@ packages_select_by_deps:
   - robot_localization
 
   - rosbridge_suite
+  - vision-msgs
+  - slam-toolbox
 
   # - rviz2
   # - behaviortree_cpp_v3
@@ -156,7 +158,6 @@ packages_select_by_deps:
   # - ros-ign-image
   # - ros-ign-interfaces
   # - soccer-marker-generation
-  - vision-msgs
   # - plotjuggler-ros
   # - plotjuggler
   # - acado-vendor
@@ -322,7 +323,6 @@ packages_select_by_deps:
   # - self-test
   # - sensor-msgs-py
   # - serial-driver
-  # - slam-toolbox
   # - soccer-vision-msgs
   # - stereo-image-proc
   # - stubborn-buddies