diff --git a/.github/workflows/update.yaml b/.github/workflows/update.yaml
index 93629d992a..6405344a5f 100644
--- a/.github/workflows/update.yaml
+++ b/.github/workflows/update.yaml
@@ -44,7 +44,7 @@ jobs:
           # permittedInsecurePackages is needed for updating some gz-*-vendor packages.
           # Note that this runs without access to SUPERFLORE_GITHUB_TOKEN.
           mkdir -p ~/.config/nixpkgs
-          echo '{ permittedInsecurePackages = [ "freeimage-unstable-2021-11-01" ]; }' > ~/.config/nixpkgs/config.nix
+          echo '{ permittedInsecurePackages = [ "freeimage-3.18.0-unstable-2024-04-18" ]; }' > ~/.config/nixpkgs/config.nix
           NIX_PATH=nixpkgs=$PWD ./maintainers/scripts/update-ament-vendor.sh || ret=$?
           git commit -m 'Update vendored-source.json files' $(find -name vendored-source.json) || :
           exit $ret
diff --git a/distros/ament_vendor_wrapper.cmake b/distros/ament_vendor_wrapper.cmake
new file mode 100644
index 0000000000..29d2b6ad38
--- /dev/null
+++ b/distros/ament_vendor_wrapper.cmake
@@ -0,0 +1,86 @@
+# CMake code that wraps ament_vendor macro for use with Nix. The
+# wrapped version of ament_vendor serves two purposes:
+#
+# 1) Capturing information about what needs to be prefetched from from
+# the Internet and stores it into vendored-source.json.
+#
+# 2) Modifying ament_vendor behavior to use the prefetched data
+# instead of downloading them (downloading is not possible in Nix
+# build sandbox).
+#
+# The functionality of the wrapper is controlled with the following
+# CMake variables:
+#
+# AMENT_VENDOR_NIX_PREFETCH: If true, ament_vendor captures the
+# information needed for prefetching the data. If false or undefined,
+# ament_vendor obtains the data from the Nix store.
+#
+# AMENT_VENDOR_NIX_TAR_${TARGET_NAME}: Nix store path of the vendored
+# source.
+#
+# The above variables are set in Nix function patchAmentVendorGit.
+
+if(NOT ament_cmake_vendor_package_FIND_QUIETLY)
+  message(STATUS "Using ament_vendor wrapped for Nix patching (${ament_cmake_vendor_package_DIR})")
+endif()
+
+if(AMENT_VENDOR_NIX_PREFETCH)
+  # Write empty JSON object to vendored-source.json. Subsequent calls to
+  # ament_vendor() will add entries to it.
+  file(WRITE ${CMAKE_BINARY_DIR}/vendored-source.json "{}")
+  find_program(JQ jq)
+  find_program(NIX_PREFETCH_GIT nix-prefetch-git)
+endif()
+
+macro(ament_vendor TARGET_NAME)
+  cmake_parse_arguments(_ARG "GLOBAL_HOOK;SKIP_INSTALL" "SOURCE_SUBDIR;VCS_TYPE;VCS_URL;VCS_VERSION;SATISFIED" "CMAKE_ARGS;PATCHES" ${ARGN})
+  if(_ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_vendor() called with unused arguments: "
+      "${_ARG_UNPARSED_ARGUMENTS}")
+  endif()
+  if(AMENT_VENDOR_NIX_PREFETCH)
+    # Read previous version of vendored-source.json
+    file(READ ${CMAKE_BINARY_DIR}/vendored-source.json VENDORED_SOURCE_JSON)
+
+    # Add new entry to vendored-source.json
+    execute_process(
+      COMMAND ${NIX_PREFETCH_GIT} --url ${_ARG_VCS_URL} --rev ${_ARG_VCS_VERSION} --fetch-submodules
+      COMMAND ${JQ} "${VENDORED_SOURCE_JSON} + {${TARGET_NAME}: {url: \"${_ARG_VCS_URL}\", rev: \"${_ARG_VCS_VERSION}\", hash: .hash}}"
+      OUTPUT_FILE ${CMAKE_BINARY_DIR}/vendored-source.json
+      COMMAND_ECHO STDOUT
+      COMMAND_ERROR_IS_FATAL ANY)
+
+    # Minimal implementation of the original ament_vendor macro that
+    # makes zenoh_cpp_vendor happy. Without this, generation of
+    # zenoh-cpp-vendor/vendored-source.json fails. If needed, we could
+    # also use ament_vendor_orig as below, but this is faster, because
+    # is doesn't download anything.
+    include(ExternalProject)
+    externalproject_add(
+      ${TARGET_NAME}
+      DOWNLOAD_COMMAND ""
+    )
+  else()
+    if(_ARG_GLOBAL_HOOK)
+      set(_ARG_GLOBAL_HOOK "GLOBAL_HOOK")
+    else()
+      unset(_ARG_GLOBAL_HOOK)
+    endif()
+    if(_ARG_SKIP_INSTALL)
+      set(_ARG_SKIP_INSTALL "SKIP_INSTALL")
+    else()
+      unset(_ARG_SKIP_INSTALL)
+    endif()
+    cmake_language(CALL ament_vendor_orig ${TARGET_NAME}
+      VCS_TYPE tar
+      VCS_URL file://${AMENT_VENDOR_NIX_TAR_${TARGET_NAME}}
+      VCS_VERSION ${_ARG_VCS_VERSION}
+      ${_ARG_GLOBAL_HOOK}
+      SATISFIED ${_ARG_SATISFIED}
+      ${_ARG_SKIP_INSTALL}
+      SOURCE_SUBDIR ${_ARG_SOURCE_SUBDIR}
+      PATCHES ${_ARG_PATCHES}
+      CMAKE_ARGS ${_ARG_CMAKE_ARGS}
+    )
+  endif()
+endmacro()
diff --git a/distros/jazzy/gz-cmake-vendor/vendored-source.json b/distros/jazzy/gz-cmake-vendor/vendored-source.json
index 7d14d4b27c..2c4b9dda97 100644
--- a/distros/jazzy/gz-cmake-vendor/vendored-source.json
+++ b/distros/jazzy/gz-cmake-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-cmake.git",
-  "rev": "gz-cmake3_3.5.4",
-  "hash": "sha256-mP0bBPWWAoUFsUwKn95Eqv1lW3lJdPEu3hhfmiK3mNQ="
+  "gz_cmake_vendor": {
+    "url": "https://github.com/gazebosim/gz-cmake.git",
+    "rev": "gz-cmake3_3.5.4",
+    "hash": "sha256-mP0bBPWWAoUFsUwKn95Eqv1lW3lJdPEu3hhfmiK3mNQ="
+  }
 }
diff --git a/distros/jazzy/gz-common-vendor/vendored-source.json b/distros/jazzy/gz-common-vendor/vendored-source.json
index 8282d1b094..c16c8d5da1 100644
--- a/distros/jazzy/gz-common-vendor/vendored-source.json
+++ b/distros/jazzy/gz-common-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-common.git",
-  "rev": "gz-common5_5.7.1",
-  "hash": "sha256-vNCjCSQYCSUHXKwXnq8vwWXiSK2+cD3yPSLT1FdAWrE="
+  "gz_common_vendor": {
+    "url": "https://github.com/gazebosim/gz-common.git",
+    "rev": "gz-common5_5.7.1",
+    "hash": "sha256-vNCjCSQYCSUHXKwXnq8vwWXiSK2+cD3yPSLT1FdAWrE="
+  }
 }
diff --git a/distros/jazzy/gz-dartsim-vendor/vendored-source.json b/distros/jazzy/gz-dartsim-vendor/vendored-source.json
index 12128df0ba..35ac79b901 100644
--- a/distros/jazzy/gz-dartsim-vendor/vendored-source.json
+++ b/distros/jazzy/gz-dartsim-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/dartsim/dart.git",
-  "rev": "v6.13.2",
-  "hash": "sha256-AfKPqUiW6BsM98TIzTY2ZcFP1WvURs8/dGOzanIiB9g="
+  "gz_dartsim_vendor": {
+    "url": "https://github.com/dartsim/dart.git",
+    "rev": "v6.13.2",
+    "hash": "sha256-AfKPqUiW6BsM98TIzTY2ZcFP1WvURs8/dGOzanIiB9g="
+  }
 }
diff --git a/distros/jazzy/gz-fuel-tools-vendor/vendored-source.json b/distros/jazzy/gz-fuel-tools-vendor/vendored-source.json
index 62124f75ef..a2454b6e7e 100644
--- a/distros/jazzy/gz-fuel-tools-vendor/vendored-source.json
+++ b/distros/jazzy/gz-fuel-tools-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-fuel-tools.git",
-  "rev": "gz-fuel-tools9_9.1.1",
-  "hash": "sha256-XQoBcCtzwzzPypS1kIeTCIbjtxrzaW3JvZLCYbwXAOk="
+  "gz_fuel_tools_vendor": {
+    "url": "https://github.com/gazebosim/gz-fuel-tools.git",
+    "rev": "gz-fuel-tools9_9.1.1",
+    "hash": "sha256-XQoBcCtzwzzPypS1kIeTCIbjtxrzaW3JvZLCYbwXAOk="
+  }
 }
diff --git a/distros/jazzy/gz-gui-vendor/vendored-source.json b/distros/jazzy/gz-gui-vendor/vendored-source.json
index 7a2c25c045..7204f09a30 100644
--- a/distros/jazzy/gz-gui-vendor/vendored-source.json
+++ b/distros/jazzy/gz-gui-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-gui.git",
-  "rev": "gz-gui8_8.4.0",
-  "hash": "sha256-gf9XZzAX2g6r9ThIA0v2H2X/+uu9VnwvyvrdL5ZazM0="
+  "gz_gui_vendor": {
+    "url": "https://github.com/gazebosim/gz-gui.git",
+    "rev": "gz-gui8_8.4.0",
+    "hash": "sha256-gf9XZzAX2g6r9ThIA0v2H2X/+uu9VnwvyvrdL5ZazM0="
+  }
 }
diff --git a/distros/jazzy/gz-launch-vendor/vendored-source.json b/distros/jazzy/gz-launch-vendor/vendored-source.json
index b94f55d2a4..dab463c146 100644
--- a/distros/jazzy/gz-launch-vendor/vendored-source.json
+++ b/distros/jazzy/gz-launch-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-launch.git",
-  "rev": "gz-launch7_7.1.1",
-  "hash": "sha256-S63DWe/c3cnEztxr3uJc0A4AmuiQk4o6m9yXj0X97Yk="
+  "gz_launch_vendor": {
+    "url": "https://github.com/gazebosim/gz-launch.git",
+    "rev": "gz-launch7_7.1.1",
+    "hash": "sha256-S63DWe/c3cnEztxr3uJc0A4AmuiQk4o6m9yXj0X97Yk="
+  }
 }
diff --git a/distros/jazzy/gz-math-vendor/vendored-source.json b/distros/jazzy/gz-math-vendor/vendored-source.json
index 8983af40ae..e5643412b4 100644
--- a/distros/jazzy/gz-math-vendor/vendored-source.json
+++ b/distros/jazzy/gz-math-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-math.git",
-  "rev": "gz-math7_7.5.2",
-  "hash": "sha256-LwYeyv8nwX06n5ju+ra2uqNMedMSLRumem8qDHXtNns="
+  "gz_math_vendor": {
+    "url": "https://github.com/gazebosim/gz-math.git",
+    "rev": "gz-math7_7.5.2",
+    "hash": "sha256-LwYeyv8nwX06n5ju+ra2uqNMedMSLRumem8qDHXtNns="
+  }
 }
diff --git a/distros/jazzy/gz-msgs-vendor/vendored-source.json b/distros/jazzy/gz-msgs-vendor/vendored-source.json
index 403d6c01cb..735de924f1 100644
--- a/distros/jazzy/gz-msgs-vendor/vendored-source.json
+++ b/distros/jazzy/gz-msgs-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-msgs.git",
-  "rev": "gz-msgs10_10.3.2",
-  "hash": "sha256-gxhRqLzBCaDmK67T5RryDpxbDR3WLgV9DFs7w6ieMxQ="
+  "gz_msgs_vendor": {
+    "url": "https://github.com/gazebosim/gz-msgs.git",
+    "rev": "gz-msgs10_10.3.2",
+    "hash": "sha256-gxhRqLzBCaDmK67T5RryDpxbDR3WLgV9DFs7w6ieMxQ="
+  }
 }
diff --git a/distros/jazzy/gz-ogre-next-vendor/vendored-source.json b/distros/jazzy/gz-ogre-next-vendor/vendored-source.json
index 9376049506..99396c9642 100644
--- a/distros/jazzy/gz-ogre-next-vendor/vendored-source.json
+++ b/distros/jazzy/gz-ogre-next-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/OGRECave/ogre-next.git",
-  "rev": "v2.3.3",
-  "hash": "sha256-elSj35LwsLzj1ssDPsk9NW/KSXfiOGYmw9hQSAWdpFM="
+  "gz_ogre_next_vendor": {
+    "url": "https://github.com/OGRECave/ogre-next.git",
+    "rev": "v2.3.3",
+    "hash": "sha256-elSj35LwsLzj1ssDPsk9NW/KSXfiOGYmw9hQSAWdpFM="
+  }
 }
diff --git a/distros/jazzy/gz-physics-vendor/vendored-source.json b/distros/jazzy/gz-physics-vendor/vendored-source.json
index b0a1c24be5..73572a873c 100644
--- a/distros/jazzy/gz-physics-vendor/vendored-source.json
+++ b/distros/jazzy/gz-physics-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-physics.git",
-  "rev": "gz-physics7_7.5.0",
-  "hash": "sha256-75myTqDeEybvj5rsJxRambLPle1cen6HIatZGbVoXro="
+  "gz_physics_vendor": {
+    "url": "https://github.com/gazebosim/gz-physics.git",
+    "rev": "gz-physics7_7.5.0",
+    "hash": "sha256-75myTqDeEybvj5rsJxRambLPle1cen6HIatZGbVoXro="
+  }
 }
diff --git a/distros/jazzy/gz-plugin-vendor/vendored-source.json b/distros/jazzy/gz-plugin-vendor/vendored-source.json
index 7c674db1b3..4b0c35500e 100644
--- a/distros/jazzy/gz-plugin-vendor/vendored-source.json
+++ b/distros/jazzy/gz-plugin-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-plugin.git",
-  "rev": "gz-plugin2_2.0.4",
-  "hash": "sha256-iL4+EdFFAU55FVqE/CvyTv1zNaXxBWqWx44L0BeG2MU="
+  "gz_plugin_vendor": {
+    "url": "https://github.com/gazebosim/gz-plugin.git",
+    "rev": "gz-plugin2_2.0.4",
+    "hash": "sha256-iL4+EdFFAU55FVqE/CvyTv1zNaXxBWqWx44L0BeG2MU="
+  }
 }
diff --git a/distros/jazzy/gz-rendering-vendor/vendored-source.json b/distros/jazzy/gz-rendering-vendor/vendored-source.json
index ebffd6d2a8..afb17accec 100644
--- a/distros/jazzy/gz-rendering-vendor/vendored-source.json
+++ b/distros/jazzy/gz-rendering-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-rendering.git",
-  "rev": "gz-rendering8_8.2.2",
-  "hash": "sha256-x+QHn8d+19U12CG1+HEmP0KcM3beY00Vvrc8mrxvAs0="
+  "gz_rendering_vendor": {
+    "url": "https://github.com/gazebosim/gz-rendering.git",
+    "rev": "gz-rendering8_8.2.2",
+    "hash": "sha256-x+QHn8d+19U12CG1+HEmP0KcM3beY00Vvrc8mrxvAs0="
+  }
 }
diff --git a/distros/jazzy/gz-sensors-vendor/vendored-source.json b/distros/jazzy/gz-sensors-vendor/vendored-source.json
index 652a127c46..979c42f62b 100644
--- a/distros/jazzy/gz-sensors-vendor/vendored-source.json
+++ b/distros/jazzy/gz-sensors-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-sensors.git",
-  "rev": "gz-sensors8_8.2.2",
-  "hash": "sha256-TRDMCMesJXVSVGA3bnRngtXTi4VVf0y12AJQ79EEMiI="
+  "gz_sensors_vendor": {
+    "url": "https://github.com/gazebosim/gz-sensors.git",
+    "rev": "gz-sensors8_8.2.2",
+    "hash": "sha256-TRDMCMesJXVSVGA3bnRngtXTi4VVf0y12AJQ79EEMiI="
+  }
 }
diff --git a/distros/jazzy/gz-sim-vendor/vendored-source.json b/distros/jazzy/gz-sim-vendor/vendored-source.json
index 2c62e09de7..7f5ad28356 100644
--- a/distros/jazzy/gz-sim-vendor/vendored-source.json
+++ b/distros/jazzy/gz-sim-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-sim.git",
-  "rev": "gz-sim8_8.9.0",
-  "hash": "sha256-hvhq2XBzcIoupJdJyJzk38LDXoEnd9iBCCiXvPZsPqY="
+  "gz_sim_vendor": {
+    "url": "https://github.com/gazebosim/gz-sim.git",
+    "rev": "gz-sim8_8.9.0",
+    "hash": "sha256-hvhq2XBzcIoupJdJyJzk38LDXoEnd9iBCCiXvPZsPqY="
+  }
 }
diff --git a/distros/jazzy/gz-tools-vendor/vendored-source.json b/distros/jazzy/gz-tools-vendor/vendored-source.json
index 29c4573cf1..9a2455dca1 100644
--- a/distros/jazzy/gz-tools-vendor/vendored-source.json
+++ b/distros/jazzy/gz-tools-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-tools.git",
-  "rev": "gz-tools2_2.0.2",
-  "hash": "sha256-CY+W1jWIkszKwKuLgKmJpZMXHn0RnueMHFSDhOXIzLg="
+  "gz_tools_vendor": {
+    "url": "https://github.com/gazebosim/gz-tools.git",
+    "rev": "gz-tools2_2.0.2",
+    "hash": "sha256-CY+W1jWIkszKwKuLgKmJpZMXHn0RnueMHFSDhOXIzLg="
+  }
 }
diff --git a/distros/jazzy/gz-transport-vendor/vendored-source.json b/distros/jazzy/gz-transport-vendor/vendored-source.json
index 19a4897198..d9b70e36d2 100644
--- a/distros/jazzy/gz-transport-vendor/vendored-source.json
+++ b/distros/jazzy/gz-transport-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-transport.git",
-  "rev": "gz-transport13_13.4.1",
-  "hash": "sha256-hCP+yVoyl1c3KNmQ5jKrYvPT1IlAy9JkCh0c0mOF+KM="
+  "gz_transport_vendor": {
+    "url": "https://github.com/gazebosim/gz-transport.git",
+    "rev": "gz-transport13_13.4.1",
+    "hash": "sha256-hCP+yVoyl1c3KNmQ5jKrYvPT1IlAy9JkCh0c0mOF+KM="
+  }
 }
diff --git a/distros/jazzy/gz-utils-vendor/vendored-source.json b/distros/jazzy/gz-utils-vendor/vendored-source.json
index f491ee549f..c77f03ec18 100644
--- a/distros/jazzy/gz-utils-vendor/vendored-source.json
+++ b/distros/jazzy/gz-utils-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-utils.git",
-  "rev": "gz-utils2_2.2.1",
-  "hash": "sha256-utVW8pTP/emEWblTxVb6jzulKdxss+2VfS552MWMqm4="
+  "gz_utils_vendor": {
+    "url": "https://github.com/gazebosim/gz-utils.git",
+    "rev": "gz-utils2_2.2.1",
+    "hash": "sha256-utVW8pTP/emEWblTxVb6jzulKdxss+2VfS552MWMqm4="
+  }
 }
diff --git a/distros/jazzy/overrides.nix b/distros/jazzy/overrides.nix
index 110c473c1e..4e90204379 100644
--- a/distros/jazzy/overrides.nix
+++ b/distros/jazzy/overrides.nix
@@ -250,4 +250,6 @@ in {
       })
     ];
   });
+
+  zenoh-cpp-vendor = lib.patchAmentVendorGit rosSuper.zenoh-cpp-vendor { };
 }
diff --git a/distros/jazzy/rviz-ogre-vendor/vendored-source.json b/distros/jazzy/rviz-ogre-vendor/vendored-source.json
index c2f5ddfbc8..3c9bd2cfa9 100644
--- a/distros/jazzy/rviz-ogre-vendor/vendored-source.json
+++ b/distros/jazzy/rviz-ogre-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/OGRECave/ogre.git",
-  "rev": "v1.12.10",
-  "hash": "sha256-Z0ixdSmkV93coBBVZ5R3lPLfVMXRfWsFz/RsSyqPWFY="
+  "ogre_vendor": {
+    "url": "https://github.com/OGRECave/ogre.git",
+    "rev": "v1.12.10",
+    "hash": "sha256-Z0ixdSmkV93coBBVZ5R3lPLfVMXRfWsFz/RsSyqPWFY="
+  }
 }
diff --git a/distros/jazzy/sdformat-vendor/vendored-source.json b/distros/jazzy/sdformat-vendor/vendored-source.json
index de840c1b91..7f191167c7 100644
--- a/distros/jazzy/sdformat-vendor/vendored-source.json
+++ b/distros/jazzy/sdformat-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/sdformat.git",
-  "rev": "sdformat14_14.7.0",
-  "hash": "sha256-p2e01bCoMpDhia1yOFa5wIP2ritBiWNT5jYbp/bg1+g="
+  "sdformat_vendor": {
+    "url": "https://github.com/gazebosim/sdformat.git",
+    "rev": "sdformat14_14.7.0",
+    "hash": "sha256-p2e01bCoMpDhia1yOFa5wIP2ritBiWNT5jYbp/bg1+g="
+  }
 }
diff --git a/distros/jazzy/zenoh-cpp-vendor/vendored-source.json b/distros/jazzy/zenoh-cpp-vendor/vendored-source.json
new file mode 100644
index 0000000000..821b6117b8
--- /dev/null
+++ b/distros/jazzy/zenoh-cpp-vendor/vendored-source.json
@@ -0,0 +1,12 @@
+{
+  "zenoh_c_vendor": {
+    "url": "https://github.com/eclipse-zenoh/zenoh-c.git",
+    "rev": "e6a1971139f405f7887bf5bb54f0efe402123032",
+    "hash": "sha256-eJbnb1UJbtuYb+dSpKqVgI1p/97bSc+KTcbO1GNg9jU="
+  },
+  "zenoh_cpp_vendor": {
+    "url": "https://github.com/eclipse-zenoh/zenoh-cpp",
+    "rev": "8ad67f6c7a9031acd437c8739bbc8ddab0ca8173",
+    "hash": "sha256-0iRhmMtrhDdM7X0ByiICT4s7lDFcGLSR1dEImzT1mWs="
+  }
+}
diff --git a/distros/rolling/gz-cmake-vendor/vendored-source.json b/distros/rolling/gz-cmake-vendor/vendored-source.json
index c705713629..7d302cd86f 100644
--- a/distros/rolling/gz-cmake-vendor/vendored-source.json
+++ b/distros/rolling/gz-cmake-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-cmake.git",
-  "rev": "gz-cmake4_4.1.1",
-  "hash": "sha256-BWgRm+3UW65Cu7TqXtFFG05JlYF52dbpAsIE8aDnJM0="
+  "gz_cmake_vendor": {
+    "url": "https://github.com/gazebosim/gz-cmake.git",
+    "rev": "gz-cmake4_4.1.1",
+    "hash": "sha256-BWgRm+3UW65Cu7TqXtFFG05JlYF52dbpAsIE8aDnJM0="
+  }
 }
diff --git a/distros/rolling/gz-common-vendor/vendored-source.json b/distros/rolling/gz-common-vendor/vendored-source.json
index 9c46bb52c2..f0b88901c1 100644
--- a/distros/rolling/gz-common-vendor/vendored-source.json
+++ b/distros/rolling/gz-common-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-common.git",
-  "rev": "gz-common6_6.0.2",
-  "hash": "sha256-sY9g+AatS+ddYSUAjqumfZNi2JIc+DFbiVYMaWKMC78="
+  "gz_common_vendor": {
+    "url": "https://github.com/gazebosim/gz-common.git",
+    "rev": "gz-common6_6.0.2",
+    "hash": "sha256-sY9g+AatS+ddYSUAjqumfZNi2JIc+DFbiVYMaWKMC78="
+  }
 }
diff --git a/distros/rolling/gz-dartsim-vendor/vendored-source.json b/distros/rolling/gz-dartsim-vendor/vendored-source.json
index 12128df0ba..35ac79b901 100644
--- a/distros/rolling/gz-dartsim-vendor/vendored-source.json
+++ b/distros/rolling/gz-dartsim-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/dartsim/dart.git",
-  "rev": "v6.13.2",
-  "hash": "sha256-AfKPqUiW6BsM98TIzTY2ZcFP1WvURs8/dGOzanIiB9g="
+  "gz_dartsim_vendor": {
+    "url": "https://github.com/dartsim/dart.git",
+    "rev": "v6.13.2",
+    "hash": "sha256-AfKPqUiW6BsM98TIzTY2ZcFP1WvURs8/dGOzanIiB9g="
+  }
 }
diff --git a/distros/rolling/gz-fuel-tools-vendor/vendored-source.json b/distros/rolling/gz-fuel-tools-vendor/vendored-source.json
index 9d7f0ba5a7..a0dc797a0a 100644
--- a/distros/rolling/gz-fuel-tools-vendor/vendored-source.json
+++ b/distros/rolling/gz-fuel-tools-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-fuel-tools.git",
-  "rev": "gz-fuel-tools10_10.0.1",
-  "hash": "sha256-/Xfhec6kpv6srSp+hudqBaK4dKFn0QK45aGqxzNyytw="
+  "gz_fuel_tools_vendor": {
+    "url": "https://github.com/gazebosim/gz-fuel-tools.git",
+    "rev": "gz-fuel-tools10_10.0.1",
+    "hash": "sha256-/Xfhec6kpv6srSp+hudqBaK4dKFn0QK45aGqxzNyytw="
+  }
 }
diff --git a/distros/rolling/gz-gui-vendor/vendored-source.json b/distros/rolling/gz-gui-vendor/vendored-source.json
index 4e683ec85f..753d09cd89 100644
--- a/distros/rolling/gz-gui-vendor/vendored-source.json
+++ b/distros/rolling/gz-gui-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-gui.git",
-  "rev": "gz-gui9_9.0.1",
-  "hash": "sha256-ZBDgd37TPBOldorGZimsCk57fVa7tTc8wRwUGFBZnDk="
+  "gz_gui_vendor": {
+    "url": "https://github.com/gazebosim/gz-gui.git",
+    "rev": "gz-gui9_9.0.1",
+    "hash": "sha256-ZBDgd37TPBOldorGZimsCk57fVa7tTc8wRwUGFBZnDk="
+  }
 }
diff --git a/distros/rolling/gz-launch-vendor/vendored-source.json b/distros/rolling/gz-launch-vendor/vendored-source.json
index 5b170f37d6..c1e3727277 100644
--- a/distros/rolling/gz-launch-vendor/vendored-source.json
+++ b/distros/rolling/gz-launch-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-launch.git",
-  "rev": "gz-launch8_8.0.1",
-  "hash": "sha256-el+4sVBOmeBj8VJqKut8pIhVJeyEyodrt6titunbBF0="
+  "gz_launch_vendor": {
+    "url": "https://github.com/gazebosim/gz-launch.git",
+    "rev": "gz-launch8_8.0.1",
+    "hash": "sha256-el+4sVBOmeBj8VJqKut8pIhVJeyEyodrt6titunbBF0="
+  }
 }
diff --git a/distros/rolling/gz-math-vendor/vendored-source.json b/distros/rolling/gz-math-vendor/vendored-source.json
index 4f6787dd5a..fe87cf8fb1 100644
--- a/distros/rolling/gz-math-vendor/vendored-source.json
+++ b/distros/rolling/gz-math-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-math.git",
-  "rev": "gz-math8_8.1.1",
-  "hash": "sha256-E7u3EtpqNLvcqI5ycezwwAlbVHM3JdqeyLFWYlEaOYo="
+  "gz_math_vendor": {
+    "url": "https://github.com/gazebosim/gz-math.git",
+    "rev": "gz-math8_8.1.1",
+    "hash": "sha256-E7u3EtpqNLvcqI5ycezwwAlbVHM3JdqeyLFWYlEaOYo="
+  }
 }
diff --git a/distros/rolling/gz-msgs-vendor/vendored-source.json b/distros/rolling/gz-msgs-vendor/vendored-source.json
index 24c5946435..a130ab4478 100644
--- a/distros/rolling/gz-msgs-vendor/vendored-source.json
+++ b/distros/rolling/gz-msgs-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-msgs.git",
-  "rev": "gz-msgs11_11.0.2",
-  "hash": "sha256-PUhFOmVPRiOVWfOjAU8z8dcxKPdcoTrgRwDGXP/vsUs="
+  "gz_msgs_vendor": {
+    "url": "https://github.com/gazebosim/gz-msgs.git",
+    "rev": "gz-msgs11_11.0.2",
+    "hash": "sha256-PUhFOmVPRiOVWfOjAU8z8dcxKPdcoTrgRwDGXP/vsUs="
+  }
 }
diff --git a/distros/rolling/gz-ogre-next-vendor/vendored-source.json b/distros/rolling/gz-ogre-next-vendor/vendored-source.json
index 9376049506..99396c9642 100644
--- a/distros/rolling/gz-ogre-next-vendor/vendored-source.json
+++ b/distros/rolling/gz-ogre-next-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/OGRECave/ogre-next.git",
-  "rev": "v2.3.3",
-  "hash": "sha256-elSj35LwsLzj1ssDPsk9NW/KSXfiOGYmw9hQSAWdpFM="
+  "gz_ogre_next_vendor": {
+    "url": "https://github.com/OGRECave/ogre-next.git",
+    "rev": "v2.3.3",
+    "hash": "sha256-elSj35LwsLzj1ssDPsk9NW/KSXfiOGYmw9hQSAWdpFM="
+  }
 }
diff --git a/distros/rolling/gz-physics-vendor/vendored-source.json b/distros/rolling/gz-physics-vendor/vendored-source.json
index eba3585135..1b061c684b 100644
--- a/distros/rolling/gz-physics-vendor/vendored-source.json
+++ b/distros/rolling/gz-physics-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-physics.git",
-  "rev": "gz-physics8_8.1.0",
-  "hash": "sha256-FnVKVbPCn3B6/sZKiPJqUjUgVilwoeP/H97eg/dirz8="
+  "gz_physics_vendor": {
+    "url": "https://github.com/gazebosim/gz-physics.git",
+    "rev": "gz-physics8_8.1.0",
+    "hash": "sha256-FnVKVbPCn3B6/sZKiPJqUjUgVilwoeP/H97eg/dirz8="
+  }
 }
diff --git a/distros/rolling/gz-plugin-vendor/vendored-source.json b/distros/rolling/gz-plugin-vendor/vendored-source.json
index 391fc00186..4c77378f24 100644
--- a/distros/rolling/gz-plugin-vendor/vendored-source.json
+++ b/distros/rolling/gz-plugin-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-plugin.git",
-  "rev": "gz-plugin3_3.0.1",
-  "hash": "sha256-7v6fzylJ4R1uoyQFM+eyl2/bXVy5MGC5dPjS7/taB8U="
+  "gz_plugin_vendor": {
+    "url": "https://github.com/gazebosim/gz-plugin.git",
+    "rev": "gz-plugin3_3.0.1",
+    "hash": "sha256-7v6fzylJ4R1uoyQFM+eyl2/bXVy5MGC5dPjS7/taB8U="
+  }
 }
diff --git a/distros/rolling/gz-rendering-vendor/vendored-source.json b/distros/rolling/gz-rendering-vendor/vendored-source.json
index feba315d53..c2bc7b7177 100644
--- a/distros/rolling/gz-rendering-vendor/vendored-source.json
+++ b/distros/rolling/gz-rendering-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-rendering.git",
-  "rev": "gz-rendering9_9.1.0",
-  "hash": "sha256-L2xkd93zhXtvbbzRrdjsoxbDtopp/RpcWBh1tfGvLeM="
+  "gz_rendering_vendor": {
+    "url": "https://github.com/gazebosim/gz-rendering.git",
+    "rev": "gz-rendering9_9.1.0",
+    "hash": "sha256-L2xkd93zhXtvbbzRrdjsoxbDtopp/RpcWBh1tfGvLeM="
+  }
 }
diff --git a/distros/rolling/gz-sensors-vendor/vendored-source.json b/distros/rolling/gz-sensors-vendor/vendored-source.json
index 87c92481c0..d86ba39594 100644
--- a/distros/rolling/gz-sensors-vendor/vendored-source.json
+++ b/distros/rolling/gz-sensors-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-sensors.git",
-  "rev": "gz-sensors9_9.1.0",
-  "hash": "sha256-dMqJqp5229r/mKjBzUJD/tEbsYZANAFNycHYc7CIkz8="
+  "gz_sensors_vendor": {
+    "url": "https://github.com/gazebosim/gz-sensors.git",
+    "rev": "gz-sensors9_9.1.0",
+    "hash": "sha256-dMqJqp5229r/mKjBzUJD/tEbsYZANAFNycHYc7CIkz8="
+  }
 }
diff --git a/distros/rolling/gz-sim-vendor/vendored-source.json b/distros/rolling/gz-sim-vendor/vendored-source.json
index 183696a8e7..2dc9729305 100644
--- a/distros/rolling/gz-sim-vendor/vendored-source.json
+++ b/distros/rolling/gz-sim-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-sim.git",
-  "rev": "gz-sim9_9.1.0",
-  "hash": "sha256-niVXuqMvEhwCW2NcrEhIChh3DsD2M8ZTspDi+zF0kBc="
+  "gz_sim_vendor": {
+    "url": "https://github.com/gazebosim/gz-sim.git",
+    "rev": "gz-sim9_9.1.0",
+    "hash": "sha256-niVXuqMvEhwCW2NcrEhIChh3DsD2M8ZTspDi+zF0kBc="
+  }
 }
diff --git a/distros/rolling/gz-tools-vendor/vendored-source.json b/distros/rolling/gz-tools-vendor/vendored-source.json
index 29c4573cf1..9a2455dca1 100644
--- a/distros/rolling/gz-tools-vendor/vendored-source.json
+++ b/distros/rolling/gz-tools-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-tools.git",
-  "rev": "gz-tools2_2.0.2",
-  "hash": "sha256-CY+W1jWIkszKwKuLgKmJpZMXHn0RnueMHFSDhOXIzLg="
+  "gz_tools_vendor": {
+    "url": "https://github.com/gazebosim/gz-tools.git",
+    "rev": "gz-tools2_2.0.2",
+    "hash": "sha256-CY+W1jWIkszKwKuLgKmJpZMXHn0RnueMHFSDhOXIzLg="
+  }
 }
diff --git a/distros/rolling/gz-transport-vendor/vendored-source.json b/distros/rolling/gz-transport-vendor/vendored-source.json
index 6f99300da0..4f5e3a3b94 100644
--- a/distros/rolling/gz-transport-vendor/vendored-source.json
+++ b/distros/rolling/gz-transport-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-transport.git",
-  "rev": "gz-transport14_14.0.1",
-  "hash": "sha256-pSoadkpVaAEswmZuK13Y7PhxgvzTK1G2wI5+Fomlm/o="
+  "gz_transport_vendor": {
+    "url": "https://github.com/gazebosim/gz-transport.git",
+    "rev": "gz-transport14_14.0.1",
+    "hash": "sha256-pSoadkpVaAEswmZuK13Y7PhxgvzTK1G2wI5+Fomlm/o="
+  }
 }
diff --git a/distros/rolling/gz-utils-vendor/vendored-source.json b/distros/rolling/gz-utils-vendor/vendored-source.json
index 8b77c59989..e4ba2c9903 100644
--- a/distros/rolling/gz-utils-vendor/vendored-source.json
+++ b/distros/rolling/gz-utils-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/gz-utils.git",
-  "rev": "gz-utils3_3.1.1",
-  "hash": "sha256-fYzysdB608jfMb/EbqiGD4hXmPxcaVTUrt9Wx0dBlto="
+  "gz_utils_vendor": {
+    "url": "https://github.com/gazebosim/gz-utils.git",
+    "rev": "gz-utils3_3.1.1",
+    "hash": "sha256-fYzysdB608jfMb/EbqiGD4hXmPxcaVTUrt9Wx0dBlto="
+  }
 }
diff --git a/distros/rolling/rviz-ogre-vendor/vendored-source.json b/distros/rolling/rviz-ogre-vendor/vendored-source.json
index c2f5ddfbc8..3c9bd2cfa9 100644
--- a/distros/rolling/rviz-ogre-vendor/vendored-source.json
+++ b/distros/rolling/rviz-ogre-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/OGRECave/ogre.git",
-  "rev": "v1.12.10",
-  "hash": "sha256-Z0ixdSmkV93coBBVZ5R3lPLfVMXRfWsFz/RsSyqPWFY="
+  "ogre_vendor": {
+    "url": "https://github.com/OGRECave/ogre.git",
+    "rev": "v1.12.10",
+    "hash": "sha256-Z0ixdSmkV93coBBVZ5R3lPLfVMXRfWsFz/RsSyqPWFY="
+  }
 }
diff --git a/distros/rolling/sdformat-vendor/vendored-source.json b/distros/rolling/sdformat-vendor/vendored-source.json
index 77ecb0da24..2a91b6f511 100644
--- a/distros/rolling/sdformat-vendor/vendored-source.json
+++ b/distros/rolling/sdformat-vendor/vendored-source.json
@@ -1,5 +1,7 @@
 {
-  "url": "https://github.com/gazebosim/sdformat.git",
-  "rev": "sdformat15_15.2.0",
-  "hash": "sha256-RarpOKoJ9w+yJw5HU5exZYjx1zVdtkE05+8PBADhOwY="
+  "sdformat_vendor": {
+    "url": "https://github.com/gazebosim/sdformat.git",
+    "rev": "sdformat15_15.2.0",
+    "hash": "sha256-RarpOKoJ9w+yJw5HU5exZYjx1zVdtkE05+8PBADhOwY="
+  }
 }
diff --git a/distros/ros2-overlay.nix b/distros/ros2-overlay.nix
index c585883dc3..c01a6b9676 100644
--- a/distros/ros2-overlay.nix
+++ b/distros/ros2-overlay.nix
@@ -23,7 +23,6 @@ rosSelf: rosSuper: with rosSelf.lib; {
     # to worry about collisions with system packages and Nix tooling generally
     # expects standard directories.
     postPatch = postPatch + ''
-      ls -l cmake/templates
       substituteInPlace cmake/ament_vendor.cmake \
         --replace-fail 'opt/''${PROJECT_NAME}' .
       substituteInPlace cmake/templates/vendor_package.dsv.in \
@@ -35,6 +34,23 @@ rosSelf: rosSuper: with rosSelf.lib; {
     '';
   });
 
+  # Version of ament-cmake-vendor-package for use in Nix build sandbox
+  # without network access. The unwrapped version is still useful in
+  # e.g. nix-shell.
+  ament-cmake-vendor-package-wrapped = rosSelf.ament-cmake-vendor-package.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    postPatch = postPatch + ''
+      # Rename the macro so that we can wrap it with our wrapper
+      substituteInPlace cmake/ament_vendor.cmake \
+        --replace-fail 'macro(ament_vendor TARGET_NAME)' 'macro(ament_vendor_orig TARGET_NAME)'
+      cp ${./ament_vendor_wrapper.cmake} ament_vendor_wrapper.cmake
+      # Add our wrapper to the list of cmake files
+      substituteInPlace CMakeLists.txt \
+        --replace-fail 'CONFIG_EXTRAS' 'CONFIG_EXTRAS "ament_vendor_wrapper.cmake"'
+    '';
+  });
+
   backward-ros = rosSuper.backward-ros.overrideAttrs ({ postPatch ? "", ... }: {
 
     # The `--as-needed` flag directs the linker to search all libraries specified
diff --git a/lib/ament_cmake_vendor_packageConfig.cmake b/lib/ament_cmake_vendor_packageConfig.cmake
deleted file mode 100644
index cb835d4e71..0000000000
--- a/lib/ament_cmake_vendor_packageConfig.cmake
+++ /dev/null
@@ -1,32 +0,0 @@
-# CMake package that defines alternative version of ament_vendor macro
-# to extract information about vendored source to
-# vendored-source.json. Normally, the ament_vendor macro is defined in
-# the ament_cmake_vendor_package and it downloads the vendored source
-# code at compile time. This is not possible with Nix, because Nix
-# builds packages without network access. Therefore, we inject this
-# alternative macro to cmake at update time and it extracts the
-# information needed by Nix to download the source code. The main
-# entry point to all this functionality is in the patchAmentVendorGit
-# function.
-
-if(NOT ament_cmake_vendor_package_FIND_QUIETLY)
-  message(STATUS "Found ament_cmake_vendor_package: Dummy version for Nix patching (${ament_cmake_vendor_package_DIR})")
-endif()
-
-find_program(JQ jq)
-find_program(NIX_PREFETCH_GIT nix-prefetch-git)
-
-macro(ament_vendor TARGET_NAME)
-  cmake_parse_arguments(_ARG "GLOBAL_HOOK;SKIP_INSTALL" "SOURCE_SUBDIR;VCS_TYPE;VCS_URL;VCS_VERSION;SATISFIED" "CMAKE_ARGS;PATCHES" ${ARGN})
-  if(_ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_vendor() called with unused arguments: "
-      "${_ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  execute_process(
-    COMMAND ${NIX_PREFETCH_GIT} --url ${_ARG_VCS_URL} --rev ${_ARG_VCS_VERSION}
-    COMMAND ${JQ} "{url: \"${_ARG_VCS_URL}\", rev: \"${_ARG_VCS_VERSION}\", hash: .hash}"
-    OUTPUT_FILE ${CMAKE_BINARY_DIR}/vendored-source.json
-    COMMAND_ECHO STDOUT
-    COMMAND_ERROR_IS_FATAL ANY)
-endmacro()
diff --git a/lib/default.nix b/lib/default.nix
index 66b1debd86..3b91a57d0c 100644
--- a/lib/default.nix
+++ b/lib/default.nix
@@ -85,56 +85,67 @@
     fetchgitArgs ? {},
     tarSourceArgs ? {}
   }: pkg.overrideAttrs ({
+    cmakeFlags ? [],
     nativeBuildInputs ? [],
     passthru ? {},
     postPatch ? "", ...
   }: let
+    # Make sure that non-existence of vendored-source.json file
+    # doesn't cause eval errors. This would break automatic updates.
     vendoredSourceJson = "${dirOf pkg.meta.position}/vendored-source.json";
-    inherit (builtins) stringLength substring pathExists;
+    inherit (builtins) stringLength substring pathExists mapAttrs attrValues;
     nameStart = 5 + stringLength pkg.rosDistro; # e.g. ros-jazzy- => 10
     attr = substring nameStart (-1) pkg.pname;
     errMsg = ''
       error: File ${vendoredSourceJson} missing.
       Run "$(nix-build -A rosPackages.${pkg.rosDistro}.${attr}.updateAmentVendor)" to create it.
     '';
-    sourceInfo = builtins.fromJSON (builtins.readFile vendoredSourceJson);
+    sourceInfos = builtins.fromJSON (builtins.readFile vendoredSourceJson);
     # ament_vendor doesn't allow patches for path inputs, so we have to pack it
     # into a tar first. Additionally, vcstool only accepts tarballs with the
     # version number as the root directory name.
-    vendor = lib.tarSource tarSourceArgs (
+    vendor = sourceInfo: lib.tarSource tarSourceArgs (
       self.fetchgit (sourceInfo // fetchgitArgs // {
         name = sourceInfo.rev;
       }));
   in {
-    # CMake ExternalProject patches are applied with git apply
-    nativeBuildInputs = nativeBuildInputs ++ [ self.git ];
-    postPatch = (if pathExists vendoredSourceJson then ''
-      sed -i '\|VCS_URL\s*|c\
-        VCS_URL "file://${vendor}"\
-        VCS_TYPE tar' \
-        ${lib.escapeShellArg file}
-    '' else ''
-      echo >&2 ${lib.escapeShellArg errMsg}
-      exit 1
-    '') + postPatch;
+
+    nativeBuildInputs = [
+      # Prepend wrapped ament_vendor to be found by CMake before the
+      # unwrapped one
+      rosSelf.ament-cmake-vendor-package-wrapped
+    ] ++ nativeBuildInputs ++ [
+      # CMake ExternalProject patches are applied with git apply
+      self.git
+    ];
+    cmakeFlags = cmakeFlags ++ lib.optionals (pathExists vendoredSourceJson)
+      (
+        # Tell ament_vendor_wrapper.cmake where to find tarballs with vendored sources
+        attrValues (mapAttrs (n: v: "-DAMENT_VENDOR_NIX_TAR_${n}=${vendor v}") sourceInfos)
+      );
+    postPatch =
+      if pathExists vendoredSourceJson then
+        postPatch
+      else ''
+        echo >&2 ${lib.escapeShellArg errMsg}
+        exit 1
+      '';
     passthru = passthru // {
       # Script to automatically update vendored-source.json by running
       # CMake with injected modified version of ament_cmake macro.
       updateAmentVendor = let
         source = self.srcOnly pkg;
         sourceDrvPath = builtins.unsafeDiscardOutputDependency source.drvPath;
-        amentVendorNix = self.runCommand "ament_cmake_vendor_package_nix" {} ''
-          install -D ${./ament_cmake_vendor_packageConfig.cmake} $out/ament_cmake_vendor_packageConfig.cmake
-        '';
         updateScript = self.writeShellScript "ament-vendor-update.sh" ''
           set -eo pipefail
           cd "$(${self.coreutils}/bin/mktemp -d)"
           trap "${self.coreutils}/bin/rm -rf '$PWD'" SIGINT SIGTERM ERR EXIT
           source "$stdenv/setup"
           export NIX_SSL_CERT_FILE="${self.cacert}/etc/ssl/certs/ca-bundle.crt"
-          # Inject our version of ament_cmake_vendor_package
-          export PATH="${lib.makeBinPath (with self; [ nix-prefetch-git jq ])}:$PATH"
-          export CMAKE_PREFIX_PATH=${amentVendorNix}
+          export PATH="${lib.makeBinPath (with self; [ nix-prefetch-git jq nix ])}:$PATH"
+          # Ask CMake to generate vendored-source.json
+          export CMAKE_PREFIX_PATH=${rosSelf.ament-cmake-vendor-package-wrapped}
+          cmakeFlags+='-DAMENT_VENDOR_NIX_PREFETCH=ON'
           phases="''${prePhases[*]:-} unpackPhase patchPhase ''${preConfigurePhases[*]:-} configurePhase ''${preBuildPhases[*]:-}" \
             genericBuild
           # Copy the resulting data to package source directory
diff --git a/maintainers/scripts/update-ament-vendor.sh b/maintainers/scripts/update-ament-vendor.sh
index 600c46e389..2ea8c2a6ca 100755
--- a/maintainers/scripts/update-ament-vendor.sh
+++ b/maintainers/scripts/update-ament-vendor.sh
@@ -10,10 +10,18 @@ set -euo pipefail
 # Run it from the top-level directory of this repo, i.e.,
 # ./maintainers/scripts/update-ament-vendor.sh
 
+# TODO: Remove after nixos-24.11 EOL
+if nix-eval-jobs --show-input-drvs --expr null >/dev/null; then
+    # Needed since v2.26.0
+    nix_eval_jobs="nix-eval-jobs --show-input-drvs"
+else
+    nix_eval_jobs="nix-eval-jobs"
+fi
+
 # Find potential candidates for updating
 candidates=$(
     # Extract all rosPackages (ignoring eval errors)
-    nix-eval-jobs --expr '(import ./. {}).rosPackages' |
+    $nix_eval_jobs --expr '(import ./. {}).rosPackages' |
         # Select only packages that depend on ament-cmake-vendor-package
         jq -r 'select(.inputDrvs|objects|keys|any(contains("ament-cmake-vendor-package"))).attr')