diff --git a/distros/humble/ci.yaml b/distros/humble/ci.yaml
index 63d3a18eb..035f1fcb2 100644
--- a/distros/humble/ci.yaml
+++ b/distros/humble/ci.yaml
@@ -23,4 +23,6 @@ full_rebuild: false
 #
 # Remember that dependents are not rebuilt automatically: evict them as well if
 # they must pick up the change.
-evict_cache: []
+evict_cache:
+  - mola_kernel  # new Windows patch; reset before merging
+  - mola_yaml  # new Windows patch; reset before merging
diff --git a/distros/humble/patch/dependencies.yaml b/distros/humble/patch/dependencies.yaml
index 7213a431f..8fc8153b2 100644
--- a/distros/humble/patch/dependencies.yaml
+++ b/distros/humble/patch/dependencies.yaml
@@ -62,6 +62,11 @@ mimick_vendor:
   add_build: ["vcstool"]
 moveit_visual_tools:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+mrpt_gui:
+  # Overrides shared/: this distribution maps Qt to qt-main 5.15, whose builds need
+  # gstreamer <1.27, while the pinned wxwidgets (3.3.3) needs gstreamer 1.28. A version
+  # spec bypasses that pin, so the solver picks a wxwidgets that coexists with qt-main.
+  add_host: ["wxwidgets >=3.2"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}"]
 nav2_util:
diff --git a/distros/jazzy/ci.yaml b/distros/jazzy/ci.yaml
index 63d3a18eb..035f1fcb2 100644
--- a/distros/jazzy/ci.yaml
+++ b/distros/jazzy/ci.yaml
@@ -23,4 +23,6 @@ full_rebuild: false
 #
 # Remember that dependents are not rebuilt automatically: evict them as well if
 # they must pick up the change.
-evict_cache: []
+evict_cache:
+  - mola_kernel  # new Windows patch; reset before merging
+  - mola_yaml  # new Windows patch; reset before merging
diff --git a/distros/jazzy/patch/dependencies.yaml b/distros/jazzy/patch/dependencies.yaml
index 17870a563..4c517e12d 100644
--- a/distros/jazzy/patch/dependencies.yaml
+++ b/distros/jazzy/patch/dependencies.yaml
@@ -101,6 +101,11 @@ mimick_vendor:
   add_host: ["setuptools <81"]
 moveit_visual_tools:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+mrpt_gui:
+  # Overrides shared/: this distribution maps Qt to qt-main 5.15, whose builds need
+  # gstreamer <1.27, while the pinned wxwidgets (3.3.3) needs gstreamer 1.28. A version
+  # spec bypasses that pin, so the solver picks a wxwidgets that coexists with qt-main.
+  add_host: ["wxwidgets >=3.2"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}"]
 nav2_mppi_controller:
diff --git a/distros/lyrical/ci.yaml b/distros/lyrical/ci.yaml
index 63d3a18eb..035f1fcb2 100644
--- a/distros/lyrical/ci.yaml
+++ b/distros/lyrical/ci.yaml
@@ -23,4 +23,6 @@ full_rebuild: false
 #
 # Remember that dependents are not rebuilt automatically: evict them as well if
 # they must pick up the change.
-evict_cache: []
+evict_cache:
+  - mola_kernel  # new Windows patch; reset before merging
+  - mola_yaml  # new Windows patch; reset before merging
diff --git a/shared/patch/dependencies.yaml b/shared/patch/dependencies.yaml
index 06fe3b647..5f96ebd5d 100644
--- a/shared/patch/dependencies.yaml
+++ b/shared/patch/dependencies.yaml
@@ -78,6 +78,18 @@ moveit_setup_framework:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_setup_srdf_plugins:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+mrpt_common:
+  # CMakeLists.txt calls find_package(ament_cmake) when ROS_VERSION=2 (set by ros_environment),
+  # but package.xml (build_type cmake) does not declare it
+  add_host: ["ros2-ament-cmake"]
+mrpt_gui:
+  # links libwx_*; the wxwidgets/wx-common keys map to wxpython, so wxwidgets is only a
+  # transitive host dep and its (weak) run_exports never reach the run requirements
+  add_host: ["wxwidgets"]
+mrpt_math:
+  # its exported CMake targets (and mrpt_poses') carry <prefix>/Library/include/eigen3 on
+  # Windows, so dependents without their own eigen host dep failed to configure
+  add_run: ["${{ 'eigen' if win }}"]
 mujoco_ros2_control_plugins:
   add_host:
   - if: linux
diff --git a/shared/patch/ros2-mola-bridge-ros2.win.patch b/shared/patch/ros2-mola-bridge-ros2.win.patch
new file mode 100644
index 000000000..45dcfb2b8
--- /dev/null
+++ b/shared/patch/ros2-mola-bridge-ros2.win.patch
@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1002ccf..fc37b9a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -85,6 +85,10 @@ mola_add_library(
+ # Same for mrpt_libros_bridge
+ mola_version_to_hexadecimal(mrpt_libros_bridge_VERSION_HEX ${mrpt_libros_bridge_VERSION})
+ target_compile_definitions(${PROJECT_NAME} PRIVATE MRPT_ROS2_BRIDGE_VERSION=${mrpt_libros_bridge_VERSION_HEX})
++if(MSVC)
++  # error C1128: number of sections exceeded object file format limit
++  target_compile_options(${PROJECT_NAME} PRIVATE /bigobj)
++endif()
+ message(STATUS "Found: mrpt_libros_bridge_VERSION: ${mrpt_libros_bridge_VERSION} (${mrpt_libros_bridge_VERSION_HEX})")
+ 
+ if (gps_msgs_FOUND)
diff --git a/shared/patch/ros2-mola-kernel.win.patch b/shared/patch/ros2-mola-kernel.win.patch
new file mode 100644
index 000000000..03f5155d4
--- /dev/null
+++ b/shared/patch/ros2-mola-kernel.win.patch
@@ -0,0 +1,17 @@
+diff --git a/include/mola_kernel/interfaces/DiagnosticsProvider.h b/include/mola_kernel/interfaces/DiagnosticsProvider.h
+index 9ee9be8..fb7423d 100644
+--- a/include/mola_kernel/interfaces/DiagnosticsProvider.h
++++ b/include/mola_kernel/interfaces/DiagnosticsProvider.h
+@@ -22,6 +22,12 @@
+ #include <string>
+ #include <vector>
+ 
++// windows.h (wingdi.h) defines ERROR, which breaks DiagnosticLevel::ERROR below
++// (the generated diagnostic_msgs headers do the same)
++#if defined(_WIN32) && defined(ERROR)
++#undef ERROR
++#endif
++
+ namespace mola
+ {
+ /** \addtogroup mola_kernel_interfaces_grp
diff --git a/shared/patch/ros2-mola-launcher.patch b/shared/patch/ros2-mola-launcher.patch
new file mode 100644
index 000000000..644565f5a
--- /dev/null
+++ b/shared/patch/ros2-mola-launcher.patch
@@ -0,0 +1,70 @@
+diff --git a/src/MolaDLL_Loader.cpp b/src/MolaDLL_Loader.cpp
+--- a/src/MolaDLL_Loader.cpp
++++ b/src/MolaDLL_Loader.cpp
+@@ -24,7 +24,7 @@
+ 
+ #include <map>
+ 
+-#if defined(__unix__)
++#if defined(__unix__) || defined(__APPLE__)
+ #include <dlfcn.h>
+ #endif
+ 
+@@ -39,7 +39,9 @@
+ {
+   MRPT_TRY_START
+ 
+-#if defined(__unix__)
++#if defined(__APPLE__)
++#define DLL_EXT "dylib"
++#elif defined(__unix__)
+ #define DLL_EXT "so"
+ #else
+ #define DLL_EXT "dll"
+@@ -59,11 +61,14 @@
+     for (const auto& lib : lst)
+     {
+       if (lib.name.find("mola") == std::string::npos) continue;  // skip
++      // ROS interface libraries (e.g. mola_msgs) are never MOLA modules, and the
++      // Python ones cannot be dlopen()ed from a non-Python process:
++      if (lib.name.find("__rosidl_") != std::string::npos) continue;  // skip
+ 
+       // Already loaded?
+       if (loaded_lib_handled.count(lib.name) != 0) continue;  // skip
+ 
+-#if defined(__unix__)
++#if defined(__unix__) || defined(__APPLE__)
+       // Check if already loaded?
+       {
+         void* handle = dlopen(lib.wholePath.c_str(), RTLD_NOLOAD);
+@@ -109,7 +114,7 @@
+   {
+     // printf("[mola-launcher] Unloading: %s\n",
+     // lib.second.lib_path.c_str());
+-#if defined(__unix__)
++#if defined(__unix__) || defined(__APPLE__)
+     dlclose(lib.second.handle);
+ #else
+     FreeLibrary(lib.second.handle);
+diff --git a/src/MolaLauncherApp.cpp b/src/MolaLauncherApp.cpp
+--- a/src/MolaLauncherApp.cpp
++++ b/src/MolaLauncherApp.cpp
+@@ -119,6 +119,18 @@
+   // do not filter these ones by *directory* name, since *filenames* will be
+   // filtered later on:
+   from_env_var_to_list("LD_LIBRARY_PATH", lib_search_paths_);
++
++  // conda/RoboStack environments do not set LD_LIBRARY_PATH: also search
++  // <prefix>/lib (<prefix>/bin for Windows DLLs) for every prefix in AMENT_PREFIX_PATH.
++  {
++    std::vector<std::string> prefixes;
++    from_env_var_to_list("AMENT_PREFIX_PATH", prefixes);
++#if defined(_WIN32)
++    for (const auto& prefix : prefixes) safe_add_to_list(prefix + "/bin", lib_search_paths_);
++#else
++    for (const auto& prefix : prefixes) safe_add_to_list(prefix + "/lib", lib_search_paths_);
++#endif
++  }
+ }
+ 
+ MolaLauncherApp::~MolaLauncherApp()
diff --git a/shared/patch/ros2-mola-launcher.win.patch b/shared/patch/ros2-mola-launcher.win.patch
new file mode 100644
index 000000000..d368fcf72
--- /dev/null
+++ b/shared/patch/ros2-mola-launcher.win.patch
@@ -0,0 +1,105 @@
+diff --git a/apps/mola-cli.cpp b/apps/mola-cli.cpp
+index 2bd97ff..d77ceda 100644
+--- a/apps/mola-cli.cpp
++++ b/apps/mola-cli.cpp
+@@ -23,7 +23,11 @@
+ #include <mrpt/core/exceptions.h>
+ #include <mrpt/rtti/CObject.h>
+ #include <mrpt/system/filesystem.h>
++#if defined(_WIN32)
++#include <io.h>  // _write()
++#else
+ #include <unistd.h>  // write()
++#endif
+ 
+ #include <CLI/CLI.hpp>
+ #include <atomic>
+@@ -48,7 +52,11 @@ void mola_signal_handler([[maybe_unused]] int s)
+   // raw write() to stderr. The actual shutdown (which logs, sleeps and joins
+   // threads) is done by the main thread as soon as spin() returns.
+   static const char           msg[] = "\nTermination signal caught. Shutting down...\n";
++#if defined(_WIN32)
++  [[maybe_unused]] const auto n = ::_write(2, msg, sizeof(msg) - 1);
++#else
+   [[maybe_unused]] const auto n     = ::write(STDERR_FILENO, msg, sizeof(msg) - 1);
++#endif
+ 
+   if (auto* app = theApp.load())
+   {
+@@ -58,6 +66,11 @@ void mola_signal_handler([[maybe_unused]] int s)
+ 
+ void mola_install_signal_handler()
+ {
++#if defined(_WIN32)
++  // No sigaction() on Windows:
++  std::signal(SIGINT, &mola_signal_handler);
++  std::signal(SIGTERM, &mola_signal_handler);
++#else
+   struct sigaction sigIntHandler;
+ 
+   sigIntHandler.sa_handler = &mola_signal_handler;
+@@ -71,6 +84,7 @@ void mola_install_signal_handler()
+   // the main MOLA loop keeps running, so the process never exits and lingers
+   // with its ROS 2 endpoints still advertised but no longer served.
+   sigaction(SIGTERM, &sigIntHandler, nullptr);
++#endif
+ }
+ 
+ // Default task for mola-cli: launching a SLAM system
+diff --git a/src/MolaDLL_Loader.cpp b/src/MolaDLL_Loader.cpp
+index ec376eb..6dcee68 100644
+--- a/src/MolaDLL_Loader.cpp
++++ b/src/MolaDLL_Loader.cpp
+@@ -26,6 +26,11 @@
+ 
+ #if defined(__unix__) || defined(__APPLE__)
+ #include <dlfcn.h>
++#elif defined(_WIN32)
++#ifndef NOMINMAX
++#define NOMINMAX
++#endif
++#include <windows.h>  // LoadLibraryA(), FreeLibrary()
+ #endif
+ 
+ /** From internal_load_lib_modules() */
+@@ -81,11 +86,17 @@ void internal_load_lib_modules(
+ 
+       void* handle = dlopen(lib.wholePath.c_str(), RTLD_LAZY);
+ #else
+-      HMODULE handle = LoadLibrary(lib.wholePath.c_str());
++      void* handle = LoadLibraryA(lib.wholePath.c_str());
+ #endif
+       if (handle == nullptr)
+       {
++#if defined(_WIN32)
++        const std::string err_str =
++            mrpt::format("LoadLibrary() error code %lu", static_cast<unsigned long>(GetLastError()));
++        const char* err = err_str.c_str();
++#else
+         const char* err = dlerror();
++#endif
+         if (!err) err = "(error calling dlerror())";
+         THROW_EXCEPTION(mrpt::format(
+             "Error loading module: `%s`\ndlerror(): `%s`", lib.wholePath.c_str(), err));
+@@ -117,7 +128,7 @@ void internal_unload_lib_modules()
+ #if defined(__unix__) || defined(__APPLE__)
+     dlclose(lib.second.handle);
+ #else
+-    FreeLibrary(lib.second.handle);
++    FreeLibrary(static_cast<HMODULE>(lib.second.handle));
+ #endif
+   }
+   loaded_lib_handled.clear();
+diff --git a/src/MolaLauncherApp.cpp b/src/MolaLauncherApp.cpp
+index d939bfe..37be9fc 100644
+--- a/src/MolaLauncherApp.cpp
++++ b/src/MolaLauncherApp.cpp
+@@ -99,7 +99,7 @@ std::string relative_to_abs_path(
+   if (f.is_relative())
+   {
+     f = fs::path(*basePath) / f;
+-    return f;
++    return f.string();  // no implicit conversion on Windows (wchar_t paths)
+   }
+   else
+     return path;
diff --git a/shared/patch/ros2-mola-yaml.win.patch b/shared/patch/ros2-mola-yaml.win.patch
new file mode 100644
index 000000000..7ef3e5962
--- /dev/null
+++ b/shared/patch/ros2-mola-yaml.win.patch
@@ -0,0 +1,22 @@
+diff --git a/include/mola_yaml/macro_helpers.h b/include/mola_yaml/macro_helpers.h
+index 0f76953..cb7c4a4 100644
+--- a/include/mola_yaml/macro_helpers.h
++++ b/include/mola_yaml/macro_helpers.h
+@@ -48,7 +48,10 @@
+ // which corresponds to the actual argument count (up to 10 args supported).
+ // ---------------------------------------------------------------------------
+ #define MOLA_NARG(...) MOLA_NARG_I_(__VA_ARGS__, MOLA_RSEQ_N())
+-#define MOLA_NARG_I_(...) MOLA_ARG_N(__VA_ARGS__)
++// MSVC's traditional preprocessor passes __VA_ARGS__ on as one argument unless
++// it is rescanned through another macro:
++#define MOLA_EXPAND_(x) x
++#define MOLA_NARG_I_(...) MOLA_EXPAND_(MOLA_ARG_N(__VA_ARGS__))
+ 
+ /** Picks the 11th argument - used internally by MOLA_NARG. */
+ #define MOLA_ARG_N(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N
+@@ -80,4 +83,4 @@
+  * @param func  Base name of the macro family (without trailing digit).
+  * @param ...   Arguments forwarded verbatim to the selected overload.
+  */
+-#define VFUNC(func, ...) MOLA_VFUNC(func, MOLA_NARG(__VA_ARGS__))(__VA_ARGS__)
++#define VFUNC(func, ...) MOLA_EXPAND_(MOLA_VFUNC(func, MOLA_NARG(__VA_ARGS__))(__VA_ARGS__))
diff --git a/shared/patch/ros2-mp2p-icp-core.patch b/shared/patch/ros2-mp2p-icp-core.patch
new file mode 100644
index 000000000..42c17e283
--- /dev/null
+++ b/shared/patch/ros2-mp2p-icp-core.patch
@@ -0,0 +1,108 @@
+diff --git a/mp2p_icp/include/mp2p_icp/LogRecord.h b/mp2p_icp/include/mp2p_icp/LogRecord.h
+--- a/mp2p_icp/include/mp2p_icp/LogRecord.h
++++ b/mp2p_icp/include/mp2p_icp/LogRecord.h
+@@ -80,7 +80,7 @@ class LogRecord : public mrpt::serialization::CSerializable
+ 
+         DECLARE_TTYPENAME_CLASSNAME(mp2p_icp::LogRecord::DebugInfoPerIteration)
+     };
+-    using iteration_idx_t   = std::size_t;
++    using iteration_idx_t   = std::uint64_t;
+     using IterationsDetails = std::map<iteration_idx_t, DebugInfoPerIteration>;
+ 
+     std::optional<IterationsDetails> iterationsDetails;
+diff --git a/mp2p_icp/src/Pairings.cpp b/mp2p_icp/src/Pairings.cpp
+--- a/mp2p_icp/src/Pairings.cpp
++++ b/mp2p_icp/src/Pairings.cpp
+@@ -57,7 +57,7 @@ void Pairings::serializeFrom(mrpt::serialization::CArchive& in)
+     {
+         // Removed in v3: per-point weights. Read and discard, for backward
+         // compatibility with older serialized icplog files.
+-        std::vector<std::pair<std::size_t, double>> unusedPointWeights;
++        std::vector<std::pair<std::uint64_t, double>> unusedPointWeights;
+         in >> unusedPointWeights;
+     }
+     if (readVersion >= 1)
+diff --git a/mp2p_icp/src/Results.cpp b/mp2p_icp/src/Results.cpp
+--- a/mp2p_icp/src/Results.cpp
++++ b/mp2p_icp/src/Results.cpp
+@@ -25,7 +25,7 @@ static const uint8_t SERIALIZATION_VERSION = 1;
+ void Results::serializeTo(mrpt::serialization::CArchive& out) const
+ {
+     out.WriteAs<uint8_t>(SERIALIZATION_VERSION);
+-    out << optimal_tf << optimalScale << nIterations;
++    out << optimal_tf << optimalScale << static_cast<uint64_t>(nIterations);
+     out << static_cast<uint8_t>(terminationReason);
+     out << quality;
+     finalPairings.serializeTo(out);
+@@ -37,7 +37,8 @@ void Results::serializeFrom(mrpt::serialization::CArchive& in)
+ 
+     ASSERT_LE_(readVersion, SERIALIZATION_VERSION);
+ 
+-    in >> optimal_tf >> optimalScale >> nIterations;
++    in >> optimal_tf >> optimalScale;
++    nIterations = static_cast<size_t>(in.ReadAs<uint64_t>());
+     terminationReason = static_cast<IterTermReason>(in.ReadAs<uint8_t>());
+     in >> quality;
+     finalPairings.serializeFrom(in);
+diff --git a/mp2p_icp_common/src/load_plugin.cpp b/mp2p_icp_common/src/load_plugin.cpp
+--- a/mp2p_icp_common/src/load_plugin.cpp
++++ b/mp2p_icp_common/src/load_plugin.cpp
+@@ -27,7 +27,7 @@
+ #include <string>
+ namespace fs = std::filesystem;
+ 
+-#if defined(__unix__)
++#if defined(__unix__) || defined(__APPLE__)
+ #include <dlfcn.h>
+ #endif
+ 
+@@ -72,6 +72,14 @@ void mp2p_icp::load_plugin(
+ {
+     std::string absPath;
+ 
++#if defined(__APPLE__)
++    // Plugin names are usually given as "lib<name>.so": use the macOS suffix.
++    if (fs::path(moduleToLoad).extension() == ".so")
++    {
++        return load_plugin(fs::path(moduleToLoad).replace_extension(".dylib").string(), logger);
++    }
++#endif
++
+     if (!fs::path(moduleToLoad).is_relative())
+     {
+         // already absolute:
+@@ -83,6 +91,13 @@ void mp2p_icp::load_plugin(
+         // search for it:
+         std::vector<std::string> lstPath;
+         from_env_var_to_list("LD_LIBRARY_PATH", lstPath);
++        // conda/RoboStack environments do not set LD_LIBRARY_PATH: also search
++        // <prefix>/lib for every prefix in AMENT_PREFIX_PATH.
++        {
++            std::vector<std::string> prefixes;
++            from_env_var_to_list("AMENT_PREFIX_PATH", prefixes);
++            for (const auto& prefix : prefixes) safe_add_to_list(prefix + "/lib", lstPath);
++        }
+ 
+         for (const auto& p : lstPath)
+         {
+@@ -101,7 +116,7 @@ void mp2p_icp::load_plugin(
+         }
+     }
+ 
+-#if defined(__unix__)
++#if defined(__unix__) || defined(__APPLE__)
+     // Check if already loaded?
+     {
+         void* handle = dlopen(absPath.c_str(), RTLD_NOLOAD);
+diff --git a/tests/test-mp2p_Pairings.cpp b/tests/test-mp2p_Pairings.cpp
+--- a/tests/test-mp2p_Pairings.cpp
++++ b/tests/test-mp2p_Pairings.cpp
+@@ -149,7 +149,7 @@ void test_Pairings_BackwardCompatDeserialization()
+     MatchedLineList       ln2ln;
+     MatchedPlaneList      pl2pl;
+     // Old-format per-point weights block, no longer used by current code:
+-    std::vector<std::pair<std::size_t, double>> point_weights;
++    std::vector<std::pair<std::uint64_t, double>> point_weights;
+     point_weights.emplace_back(1, 2.5);
+     const uint64_t          potential_pairings = 42;
+     MatchedPointWithCovList cov2cov;
diff --git a/shared/patch/ros2-mp2p-icp-core.win.patch b/shared/patch/ros2-mp2p-icp-core.win.patch
new file mode 100644
index 000000000..baa7458be
--- /dev/null
+++ b/shared/patch/ros2-mp2p-icp-core.win.patch
@@ -0,0 +1,64 @@
+diff --git a/mp2p_icp_common/src/load_plugin.cpp b/mp2p_icp_common/src/load_plugin.cpp
+index c3cf7d7..48d26eb 100644
+--- a/mp2p_icp_common/src/load_plugin.cpp
++++ b/mp2p_icp_common/src/load_plugin.cpp
+@@ -29,6 +29,11 @@ namespace fs = std::filesystem;
+ 
+ #if defined(__unix__) || defined(__APPLE__)
+ #include <dlfcn.h>
++#elif defined(_WIN32)
++#ifndef NOMINMAX
++#define NOMINMAX
++#endif
++#include <windows.h>  // LoadLibraryA()
+ #endif
+ 
+ namespace
+@@ -79,6 +84,16 @@ void mp2p_icp::load_plugin(
+         return load_plugin(fs::path(moduleToLoad).replace_extension(".dylib").string(), logger);
+     }
+ #endif
++#if defined(_WIN32)
++    // Plugin names are usually given as "lib<name>.so": MSVC builds "<name>.dll".
++    if (fs::path(moduleToLoad).extension() == ".so")
++    {
++        auto p    = fs::path(moduleToLoad).replace_extension(".dll");
++        auto name = p.filename().string();
++        if (name.rfind("lib", 0) == 0) p.replace_filename(name.substr(3));
++        return load_plugin(p.string(), logger);
++    }
++#endif
+ 
+     if (!fs::path(moduleToLoad).is_relative())
+     {
+@@ -96,7 +111,11 @@ void mp2p_icp::load_plugin(
+         {
+             std::vector<std::string> prefixes;
+             from_env_var_to_list("AMENT_PREFIX_PATH", prefixes);
++#if defined(_WIN32)
++            for (const auto& prefix : prefixes) safe_add_to_list(prefix + "/bin", lstPath);
++#else
+             for (const auto& prefix : prefixes) safe_add_to_list(prefix + "/lib", lstPath);
++#endif
+         }
+ 
+         for (const auto& p : lstPath)
+@@ -128,11 +147,17 @@ void mp2p_icp::load_plugin(
+     void* handle = dlopen(absPath.c_str(), RTLD_LAZY);
+ 
+ #else
+-    HMODULE    handle = LoadLibrary(absPath.c_str());
++    void* handle = LoadLibraryA(absPath.c_str());
+ #endif
+     if (handle == nullptr)
+     {
++#if defined(_WIN32)
++        const std::string err_str =
++            mrpt::format("LoadLibrary() error code %lu", static_cast<unsigned long>(GetLastError()));
++        const char* err = err_str.c_str();
++#else
+         const char* err = dlerror();
++#endif
+         if (!err)
+         {
+             err = "(error calling dlerror())";
diff --git a/shared/patch/ros2-mp2p-icp-viz.patch b/shared/patch/ros2-mp2p-icp-viz.patch
new file mode 100644
index 000000000..f7a6c7b61
--- /dev/null
+++ b/shared/patch/ros2-mp2p-icp-viz.patch
@@ -0,0 +1,13 @@
+diff --git a/apps/imgui_app_common/CMakeLists.txt b/apps/imgui_app_common/CMakeLists.txt
+--- a/apps/imgui_app_common/CMakeLists.txt
++++ b/apps/imgui_app_common/CMakeLists.txt
+@@ -20,4 +20,9 @@ find_package(Threads REQUIRED)
+ 
+ target_link_libraries(${PROJECT_NAME} PUBLIC imgui::imgui Threads::Threads)
+ 
++# libcfgpath (used here and by the apps) calls FSFindFolder() on macOS:
++if(APPLE)
++  target_link_libraries(${PROJECT_NAME} PUBLIC "-framework CoreServices")
++endif()
++
+ target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
diff --git a/shared/patch/ros2-mrpt-gui.patch b/shared/patch/ros2-mrpt-gui.patch
new file mode 100644
index 000000000..42b22cb5d
--- /dev/null
+++ b/shared/patch/ros2-mrpt-gui.patch
@@ -0,0 +1,48 @@
+diff --git a/3rdparty/nanogui/CMakeLists.txt b/3rdparty/nanogui/CMakeLists.txt
+--- a/3rdparty/nanogui/CMakeLists.txt
++++ b/3rdparty/nanogui/CMakeLists.txt
+@@ -64,9 +64,9 @@ endif()
+ # -------------------------------------------------------------------------
+ # Resource / Font Compilation
+ # -------------------------------------------------------------------------
+-find_file(ENTYPO_TTF_FILE           entypo.ttf          PATHS "${CMAKE_CURRENT_SOURCE_DIR}/resources" REQUIRED)
+-find_file(ROBOTO_BOLD_TTF_FILE      Roboto-Bold.ttf     PATHS /usr/share/fonts/truetype/roboto-fontface/roboto/ "${CMAKE_CURRENT_SOURCE_DIR}/resources" REQUIRED)
+-find_file(ROBOTO_REGULAR_TTF_FILE   Roboto-Regular.ttf  PATHS /usr/share/fonts/truetype/roboto-fontface/roboto/ "${CMAKE_CURRENT_SOURCE_DIR}/resources" REQUIRED)
++find_file(ENTYPO_TTF_FILE           entypo.ttf          PATHS "${CMAKE_CURRENT_SOURCE_DIR}/resources" NO_CMAKE_FIND_ROOT_PATH REQUIRED)
++find_file(ROBOTO_BOLD_TTF_FILE      Roboto-Bold.ttf     PATHS /usr/share/fonts/truetype/roboto-fontface/roboto/ "${CMAKE_CURRENT_SOURCE_DIR}/resources" NO_CMAKE_FIND_ROOT_PATH REQUIRED)
++find_file(ROBOTO_REGULAR_TTF_FILE   Roboto-Regular.ttf  PATHS /usr/share/fonts/truetype/roboto-fontface/roboto/ "${CMAKE_CURRENT_SOURCE_DIR}/resources" NO_CMAKE_FIND_ROOT_PATH REQUIRED)
+ 
+ set(resources ${ENTYPO_TTF_FILE} ${ROBOTO_BOLD_TTF_FILE} ${ROBOTO_REGULAR_TTF_FILE})
+ message(STATUS "Font resources: ${resources}")
+diff --git a/cmake/script_nanogui.cmake b/cmake/script_nanogui.cmake
+--- a/cmake/script_nanogui.cmake
++++ b/cmake/script_nanogui.cmake
+@@ -4,11 +4,9 @@
+ set(CMAKE_MRPT_HAS_NANOGUI 0)
+ set(CMAKE_MRPT_HAS_NANOGUI_SYSTEM 0)
+ 
+-if (APPLE)
+-  set(def_ OFF)
+-else()
+-  set(def_ ON)
+-endif()
++# RoboStack: also build nanogui on macOS (needed by mola_viz); it builds with GLFW and
++# OpenGL.framework.
++set(def_ ON)
+ set(MRPT_WITH_NANOGUI ${def_} CACHE BOOL "Build an embedded version of nanogui (OpenGL GUIs)")
+ unset(def_)
+ 
+diff --git a/src/error_box.cpp b/src/error_box.cpp
+--- a/src/error_box.cpp
++++ b/src/error_box.cpp
+@@ -22,7 +22,9 @@
+ #else
+ #include <iostream>
+ #endif  // MRPT_HAS_Qt5
+-#if MRPT_HAS_WXWIDGETS
++// Only needed without Qt (see showErrorMessage()); on macOS the wx and Qt 5 headers
++// clash (NSData/NSString forward declarations).
++#if MRPT_HAS_WXWIDGETS && !MRPT_HAS_Qt5
+ #include <mrpt/gui/WxUtils.h>
+ #endif
+ 
diff --git a/shared/patch/ros2-mrpt-imgui-vendor.patch b/shared/patch/ros2-mrpt-imgui-vendor.patch
new file mode 100644
index 000000000..10614efb9
--- /dev/null
+++ b/shared/patch/ros2-mrpt-imgui-vendor.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -141,6 +141,9 @@
+ # Always PIC: a static vendor library gets linked into MRPT shared libraries.
+ set_target_properties(${PROJECT_NAME} PROPERTIES POSITION_INDEPENDENT_CODE TRUE)
+ 
++# The GLFW/OpenGL3 backends call dlopen()/dlsym(), which live in libdl on glibc < 2.34.
++target_link_libraries(${PROJECT_NAME} PUBLIC ${CMAKE_DL_LIBS})
++
+ # Upstream headers are included unqualified (`#include "imgui.h"`), so the
+ # directory holding them must itself be on the interface include path. SYSTEM
+ # keeps third-party warnings out of consumers' builds.
diff --git a/shared/patch/ros2-mrpt-maps.patch b/shared/patch/ros2-mrpt-maps.patch
new file mode 100644
index 000000000..a1a92f6a7
--- /dev/null
+++ b/shared/patch/ros2-mrpt-maps.patch
@@ -0,0 +1,15 @@
+diff --git a/include/mrpt/maps/bonxai/bonxai.hpp b/include/mrpt/maps/bonxai/bonxai.hpp
+--- a/include/mrpt/maps/bonxai/bonxai.hpp
++++ b/include/mrpt/maps/bonxai/bonxai.hpp
+@@ -538,7 +538,10 @@
+ {
+   dim_ = other.dim_;
+   size_ = other.size_;
+-  mask_ = std::move(other.mask_);
++  // Mask has const members, so it is not assignable (clang rejects this even if
++  // the operator is never instantiated): re-construct it in place instead.
++  mask_.~Mask();
++  new (&mask_) Bonxai::Mask(std::move(other.mask_));
+   std::swap(data_, other.data_);
+   return *this;
+ }
diff --git a/shared/pkg_additional_info.yaml b/shared/pkg_additional_info.yaml
index 4db4b4fd2..a4294d623 100644
--- a/shared/pkg_additional_info.yaml
+++ b/shared/pkg_additional_info.yaml
@@ -106,6 +106,8 @@ libpointmatcher:
     then: "-DINSTALL_CMAKE_DIR=share/libpointmatcher/cmake"
 moveit_ros_visualization:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+mrpt_libros_bridge:  # exports no symbols on Windows: no import library for its tests
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 mujoco_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 octomap_ros:
diff --git a/shared/robostack.yaml b/shared/robostack.yaml
index c2880a076..d286b3971 100644
--- a/shared/robostack.yaml
+++ b/shared/robostack.yaml
@@ -56,6 +56,8 @@ clang-format:
   robostack: [clang-format]
 clang-tidy:
   robostack: [clang-tools]
+cli11:
+  robostack: [cli11]
 cmake:
   robostack: [cmake]
 coinor-libcbc-dev:
diff --git a/shared/tests/ros2-mola.yaml b/shared/tests/ros2-mola.yaml
new file mode 100644
index 000000000..a08e566e9
--- /dev/null
+++ b/shared/tests/ros2-mola.yaml
@@ -0,0 +1,5 @@
+tests:
+  # mola-cli must find the module libraries of a conda environment without any environment
+  # variable (shared/patch/ros2-mola-launcher.patch) and register their classes.
+  - script:
+      - python -c "import subprocess; out = subprocess.run(['mola-cli', '--rtti-list-all'], capture_output=True, text=True).stdout; missing = [c for c in ('mola::MolaViz', 'mola::BridgeROS2', 'mola::Rosbag2Dataset', 'mola::KeyframePointCloudMap') if c not in out]; assert not missing, missing"
diff --git a/shared/vinca.yaml b/shared/vinca.yaml
index 16ad91a96..fe1eae88d 100644
--- a/shared/vinca.yaml
+++ b/shared/vinca.yaml
@@ -186,6 +186,7 @@ packages_select_by_deps:
   - mocap4r2_msgs
   - mocap4r2_robot_gt
   - mocap4r2_robot_gt_msgs
+  - mola # requested in https://github.com/RoboStack/robostack/issues/106
   - motion_capture_tracking
   - mouse_teleop
   - moveit