diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index 818b9aa99..98ab77f68 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -34,6 +34,15 @@ jobs:
           - os: windows-2019
             platform: osx-arm64
     steps:
+    # Workaround for https://github.com/RoboStack/ros-humble/pull/141#issuecomment-1941919816
+    - name: Clean up PATH
+      if: contains(matrix.os, 'windows')
+      uses: egor-tensin/cleanup-path@v4
+      with:
+        # cygpath in C:\Program Files\Git\usr\bin is used by install micromamba
+        # git in C:\Program Files\Git\bin is used by pip install git+ 
+        dirs: 'C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\mingw64\bin'
+
     - uses: actions/checkout@master
     - name: install micromamba
       uses: mamba-org/setup-micromamba@main
@@ -78,11 +87,6 @@ jobs:
       run: |
         rm -rf /c/Strawberry
 
-    # Workaround for https://github.com/RoboStack/ros-humble/pull/141#issuecomment-1941919816
-    - name: Clean up PATH
-      if: contains(matrix.os, 'windows')
-      uses: egor-tensin/cleanup-path@v4
-
     - name: Check what files have changed
       id: filecheck
       shell: bash -l {0}
diff --git a/.scripts/build_win.bat b/.scripts/build_win.bat
index a264ee628..a0c28bd8f 100644
--- a/.scripts/build_win.bat
+++ b/.scripts/build_win.bat
@@ -2,22 +2,6 @@ setlocal EnableExtensions EnableDelayedExpansion
 call %CONDA%\condabin\conda_hook.bat
 call %CONDA%\condabin\conda.bat activate base
 
-set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%"
-set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%"
-set "PATH=%PATH:C:\Rust\.cargo\bin;=%"
-set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%"
-set "PATH=%PATH:C:\Program Files\Git\cmd;=%"
-set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%"
-set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%"
-set "PATH=%PATH:C:\Program Files\CMake\bin;=%"
-set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%"
-set "PATH=%PATH:C:\Strawberry\c\bin;=%"
-set "PATH=%PATH:C:\Strawberry\perl\bin;=%"
-set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%"
-set "PATH=%PATH:c:\tools\php;=%"
-:: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage
-set "PATH=%PATH:ostedtoolcache=%"
-
 echo "PATH is %PATH%"
 echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%"
 
diff --git a/patch/ros-humble-gazebo-ros2-control.patch b/patch/ros-humble-gazebo-ros2-control.patch
index e5a048caf..10cf5af11 100644
--- a/patch/ros-humble-gazebo-ros2-control.patch
+++ b/patch/ros-humble-gazebo-ros2-control.patch
@@ -1,29 +1,7 @@
-diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
-index 1ed72fc..6015669 100644
---- a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
-+++ b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
-@@ -36,6 +36,8 @@
- #include <memory>
- #include <utility>
- #include <vector>
-+#include <chrono>
-+#include <thread>
- 
- #include "gazebo_ros/node.hpp"
- 
-@@ -506,7 +508,7 @@ std::string GazeboRosControlPrivate::getURDF(std::string param_name) const
-         model_nh_->get_logger(), "gazebo_ros2_control plugin is waiting for model"
-         " URDF in parameter [%s] on the ROS param server.", param_name.c_str());
-     }
--    usleep(100000);
-+    std::this_thread::sleep_for(std::chrono::microseconds(100000));
-   }
-   RCLCPP_INFO(
-     model_nh_->get_logger(), "Received urdf from param server, parsing...");
-diff --git a/gazebo_ros2_control/CMakeLists.txt b/gazebo_ros2_control/CMakeLists.txt
-index cfba129..b954ccc 100644
---- a/gazebo_ros2_control/CMakeLists.txt
-+++ b/gazebo_ros2_control/CMakeLists.txt
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index cfba129..d91c6a3 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
 @@ -30,6 +30,7 @@ link_directories(
  add_library(${PROJECT_NAME} SHARED
    src/gazebo_ros2_control_plugin.cpp
@@ -40,3 +18,25 @@ index cfba129..b954ccc 100644
  ament_target_dependencies(gazebo_hardware_plugins
    angles
    gazebo_dev
+diff --git a/src/gazebo_ros2_control_plugin.cpp b/src/gazebo_ros2_control_plugin.cpp
+index 82b7ba7..eee85e6 100644
+--- a/src/gazebo_ros2_control_plugin.cpp
++++ b/src/gazebo_ros2_control_plugin.cpp
+@@ -36,6 +36,8 @@
+ #include <memory>
+ #include <utility>
+ #include <vector>
++#include <chrono>
++#include <thread>
+ 
+ #include "gazebo_ros/node.hpp"
+ 
+@@ -465,7 +471,7 @@ std::string GazeboRosControlPrivate::getURDF(std::string param_name) const
+         model_nh_->get_logger(), "gazebo_ros2_control plugin is waiting for model"
+         " URDF in parameter [%s] on the ROS param server.", search_param_name.c_str());
+     }
+-    usleep(100000);
++    std::this_thread::sleep_for(std::chrono::microseconds(100000));
+   }
+   RCLCPP_INFO(
+     model_nh_->get_logger(), "Received urdf from param server, parsing...");
diff --git a/patch/ros-humble-hardware-interface.patch b/patch/ros-humble-hardware-interface.patch
index e60ae176a..bfed7f303 100644
--- a/patch/ros-humble-hardware-interface.patch
+++ b/patch/ros-humble-hardware-interface.patch
@@ -22,3 +22,18 @@ index 846d9f757c..042361e392 100644
  bool parse_bool(const std::string & bool_string);
  
  }  // namespace hardware_interface
+diff --git a/hardware_interface/include/hardware_interface/types/hardware_interface_return_values.hpp b/hardware_interface/include/hardware_interface/types/hardware_interface_return_values.hpp
+index 5c3ea22ca0..271dc29faf 100644
+--- a/hardware_interface/include/hardware_interface/types/hardware_interface_return_values.hpp
++++ b/hardware_interface/include/hardware_interface/types/hardware_interface_return_values.hpp
+@@ -17,6 +17,10 @@
+ 
+ #include <cstdint>
+ 
++#ifdef ERROR
++#undef ERROR
++#endif
++
+ namespace hardware_interface
+ {
+ enum class return_type : std::uint8_t
diff --git a/vinca_win.yaml b/vinca_win.yaml
index 21302261f..75c41cbbb 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -62,5 +62,6 @@ packages_select_by_deps:
   # - desktop_full
   # - moveit
 
+
 patch_dir: patch