diff --git a/patch/ros-noetic-tf2-py.osx.patch b/patch/ros-noetic-tf2-py.osx.patch
new file mode 100644
index 000000000..6143e8563
--- /dev/null
+++ b/patch/ros-noetic-tf2-py.osx.patch
@@ -0,0 +1,27 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index bb53f9d3..53f56f01 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -88,8 +88,9 @@ catkin_package(
+ 
+ # Dynamic linking with tf worked OK, except for exception propagation, which failed in the unit test.
+ # so build with the objects directly instead.
+-
+-link_libraries(${PYTHON_LIBRARIES})
++if(NOT APPLE)
++  link_libraries(${PYTHON_LIBRARIES})
++endif()
+ add_library(tf2_py src/tf2_py.cpp)
+ target_link_libraries(tf2_py ${catkin_LIBRARIES})
+ add_dependencies(tf2_py ${catkin_EXPORTED_TARGETS})
+@@ -101,6 +102,10 @@ else()
+   set_target_properties(tf2_py PROPERTIES COMPILE_FLAGS "-g -Wno-missing-field-initializers")
+   set_target_properties(tf2_py PROPERTIES OUTPUT_NAME tf2 PREFIX "_" SUFFIX ".so")
+ endif()
++if(APPLE)
++  set_target_properties(tf2_py PROPERTIES
++                        LINK_FLAGS "-undefined dynamic_lookup")
++endif()
+ set_target_properties(tf2_py PROPERTIES
+   ARCHIVE_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
+   LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index c863434f6..404adec14 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -30,12 +30,13 @@ packages_select_by_deps:
   ##
   #  TODO OSX
   ##
-  # - grid_map  # fails with tbb-error, probably need to use cmake instead of pkg-config
-  - ros_numpy
+  # - grid_map  # fails with tbb-error, probably need to use cmake instead of pkg-config. See grid-map-osx branch
+  - tf2_py
 
   ##
   # DONE OSX
   ##
+  # - ros_numpy
   # - velodyne_simulator
   # - rviz
   # - mavros