diff --git a/patch/ros-humble-topic-based-ros2-control.patch b/patch/ros-humble-topic-based-ros2-control.patch
new file mode 100644
index 000000000..45d00a93c
--- /dev/null
+++ b/patch/ros-humble-topic-based-ros2-control.patch
@@ -0,0 +1,23 @@
+From 546fa2b161d178b1cdb896ba90887419b1b702de Mon Sep 17 00:00:00 2001
+From: Bence Magyar <bence.magyar.robotics@gmail.com>
+Date: Sat, 16 Aug 2025 07:10:52 +0100
+Subject: [PATCH] Deprecation notices should be seen. Do not convert warnings
+ into errors.
+
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 3a8e525..7b8bb21 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
+ project(topic_based_ros2_control CXX)
+ 
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+-  add_compile_options(-Werror -Wall -Wextra -Wpedantic -Wshadow
++  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow
+     -Wsign-conversion -Winit-self -Wredundant-decls)
+ endif()
+ 
diff --git a/vinca.yaml b/vinca.yaml
index 68a99c514..e57ee4dd8 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -308,7 +308,9 @@ packages_select_by_deps:
       - imu_tools
       - rplidar_ros
       - vector_pursuit_controller
-  
+      # Requested in https://github.com/RoboStack/ros-humble/issues/345
+      - topic_based_ros2_control
+
   # These packages are only built on Linux as they depend on Linux-specific API
   - if: linux
     then: