diff --git a/buildspecs/cmake/toolchain.cmake b/buildspecs/cmake/toolchain.cmake
index aa1c755..1bcac9d 100644
--- a/buildspecs/cmake/toolchain.cmake
+++ b/buildspecs/cmake/toolchain.cmake
@@ -35,8 +35,15 @@ if (NOT VX_TARGET_TYPE STREQUAL "DKM" AND NOT VX_TARGET_TYPE STREQUAL "RTP")
     message(FATAL_ERROR "VX_TARGET_TYPE only could be DKM or RTP.")
 endif()
 
+execute_process(
+    COMMAND sh -c "wr-cc -print-target-triple | cut -d '-' -f 1 | sed -e 's/arm64/aarch64/g'"
+    OUTPUT_VARIABLE ARCH
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
 # load VxWorks.cmake
 set(CMAKE_SYSTEM_NAME VxWorks)
+set(CMAKE_SYSTEM_PROCESSOR ${ARCH})
 set(CMAKE_SYSTEM_VERSION 7)
 
 # set compiler
diff --git a/pkg/ros2/files/humble/packages.mk b/pkg/ros2/files/humble/packages.mk
index df50085..05f793d 100644
--- a/pkg/ros2/files/humble/packages.mk
+++ b/pkg/ros2/files/humble/packages.mk
@@ -21,31 +21,33 @@
 
 # SYNOPSIS        variables for ROS 2 packages
 
-ROS2_PATCH_DIRS=eclipse-iceoryx/iceoryx \
+ROS2_PATCH_DIRS=ament/googletest \
+		eclipse-iceoryx/iceoryx \
                 eclipse-cyclonedds/cyclonedds \
                 eProsima/Fast-DDS \
                 eProsima/foonathan_memory_vendor \
                 osrf/osrf_pycommon \
+                osrf/osrf_testing_tools_cpp \
+                ros/class_loader \
+                ros/urdfdom \
+                ros2/mimick_vendor \
                 ros2/orocos_kdl_vendor \
                 ros2/pybind11_vendor \
-                ros2/ros2_tracing \
-                ros2/rmw_implementation \
                 ros2/rclcpp \
                 ros2/rclpy \
+                ros2/rcpputils \
                 ros2/rcutils \
+                ros2/rmw \
+                ros2/rmw_implementation \
+                ros2/ros2_tracing \
                 ros2/ros2cli
 
 # Ignore not used
 ROS_IGNORE_DIRS=ros-visualization \
 		ros2/rviz \
-                osrf/osrf_testing_tools_cpp \
                 ros-planning \
                 ros2/rmw_connextdds \
-                ament/ament_lint \
                 ament/uncrustify_vendor \
-		ament/google_benchmark_vendor \
-		ros2/mimick_vendor \
-		ros2/performance_test_fixture \
 		eclipse-iceoryx
 
 # Ignore Python-specific packages
diff --git a/pkg/ros2/files/humble/vxworks.mixin b/pkg/ros2/files/humble/vxworks.mixin
index e2a170f..06fee3e 100644
--- a/pkg/ros2/files/humble/vxworks.mixin
+++ b/pkg/ros2/files/humble/vxworks.mixin
@@ -12,9 +12,10 @@
                 "-DPython3_EXECUTABLE=/wrsdk/vxsdk/host/x86_64-linux/bin/python3",
                 "-DPYTHON_SOABI=cpython-39-vxworks",
                 "-DSECURITY=ON",
-                "-DBUILD_TESTING:BOOL=OFF",
                 "-DCMAKE_EXE_LINKER_FLAGS=-rpath-link /work/output/export/root/lib",
-                "-DFORCE_BUILD_VENDOR_PKG=ON"
+                "-DFORCE_BUILD_VENDOR_PKG=ON",
+                "-DCMAKE_CXX_FLAGS=-fwarning-level-low",
+                "-DCMAKE_C_FLAGS=-fwarning-level-low"
             ]
         }
     }