diff --git a/distros/noetic/overrides.nix b/distros/noetic/overrides.nix
index bf6f7b9ced..92081b28d6 100644
--- a/distros/noetic/overrides.nix
+++ b/distros/noetic/overrides.nix
@@ -8,6 +8,30 @@ rosSelf: rosSuper: with rosSelf.lib; {
     cmakeFlags = cmakeFlags ++ [ "-DPYTHON_EXECUTABLE=${rosSelf.python.interpreter}" ];
   });
 
+  flatland-msgs = rosSuper.flatland-msgs.overrideAttrs ({
+    nativeBuildInputs ? [], ...
+  }: {
+    nativeBuildInputs = nativeBuildInputs ++ [ self.pkg-config ];
+  });
+
+  flatland-server = rosSuper.flatland-server.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # Fix linking with Lua 
+      ./yaml_preprocessor.patch
+
+      # Fix missing <array> include
+      ./types.patch
+    ];
+  });
+
+  flatland-viz = rosSuper.flatland-viz.overrideAttrs ({
+    propagatedBuildInputs ? [], ...
+  }: {
+    propagatedBuildInputs = propagatedBuildInputs ++ [ self.lsb-release self.qt5.wrapQtAppsHook ];
+  });
+
   gazebo = self.gazebo_11;
 
   libphidget22 = patchVendorUrl rosSuper.libphidget22 {
diff --git a/distros/noetic/types.patch b/distros/noetic/types.patch
new file mode 100644
index 0000000000..0c58ddba30
--- /dev/null
+++ b/distros/noetic/types.patch
@@ -0,0 +1,9 @@
+--- a/include/flatland_server/types.h
++++ b/include/flatland_server/types.h
+@@ -44,6 +44,7 @@
+  *  POSSIBILITY OF SUCH DAMAGE.
+  */
+ 
++#include <array>
+ #include <Box2D/Box2D.h>
+ #include <geometry_msgs/Pose2D.h>
diff --git a/distros/noetic/yaml_preprocessor.patch b/distros/noetic/yaml_preprocessor.patch
new file mode 100644
index 0000000000..5f7e4dc9a1
--- /dev/null
+++ b/distros/noetic/yaml_preprocessor.patch
@@ -0,0 +1,22 @@
+--- a/include/flatland_server/yaml_preprocessor.h
++++ b/include/flatland_server/yaml_preprocessor.h
+@@ -47,12 +47,15 @@
+ #ifndef FLATLAND_SERVER_YAML_PREPROCESSOR_H
+ #define FLATLAND_SERVER_YAML_PREPROCESSOR_H
+
++extern "C"
++{
++    #include <lua.h>
++    #include <lualib.h>
++    #include <lauxlib.h>
++}
++
+ #include <flatland_server/exceptions.h>
+ #include <yaml-cpp/yaml.h>
+-
+-#include <lauxlib.h>
+-#include <lua.h>
+-#include <lualib.h>
+ #include <set>
+ #include <string>
+ #include <vector>
\ No newline at end of file