diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index 3043f1a6e..43c6dd09d 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -96,5 +96,9 @@ packages_select_by_deps:
 
   - ublox
 
+  - can_msgs
+  - ros2_socketcan_msgs
+  - ros2_socketcan
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 3043f1a6e..e3cc2a057 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -95,6 +95,10 @@ packages_select_by_deps:
   - lanelet2
 
   - ublox
+  
+  - can_msgs
+  - ros2_socketcan_msgs
+  - ros2_socketcan
 
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index bf3f24b0e..368b97cc5 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -105,5 +105,8 @@ packages_select_by_deps:
 
   - ublox
 
+  - can_msgs
+  - ros2_socketcan_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index 4e7571448..8351c0bc6 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -105,5 +105,8 @@ packages_select_by_deps:
 
   - ublox
 
+  - can_msgs
+  - ros2_socketcan_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_win.yaml b/vinca_win.yaml
index d3cd4fcfc..e63ba0a45 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -106,6 +106,9 @@ packages_select_by_deps:
 
   - ublox
 
+  - can_msgs
+  - ros2_socketcan_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml