diff --git a/patch/ros-humble-pilz-industrial-motion-planner.win.patch b/patch/ros-humble-pilz-industrial-motion-planner.win.patch
new file mode 100644
index 000000000..ade4a8476
--- /dev/null
+++ b/patch/ros-humble-pilz-industrial-motion-planner.win.patch
@@ -0,0 +1,36 @@
+diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
+index c1fccdf3bd..01a7f11b59 100644
+--- a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
++++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
+@@ -117,7 +117,7 @@ bool pilz_industrial_motion_planner::computePoseIK(const planning_scene::Plannin
+                                                    const double timeout)
+ {
+   Eigen::Isometry3d pose_eigen;
+-  tf2::convert<geometry_msgs::msg::Pose, Eigen::Isometry3d>(pose, pose_eigen);
++  tf2::fromMsg(pose, pose_eigen);
+   return computePoseIK(scene, group_name, link_name, pose_eigen, frame_id, seed, solution, check_self_collision,
+                        timeout);
+ }
+@@ -591,7 +591,7 @@ bool pilz_industrial_motion_planner::isStateColliding(const planning_scene::Plan
+ void normalizeQuaternion(geometry_msgs::msg::Quaternion& quat)
+ {
+   tf2::Quaternion q;
+-  tf2::convert<geometry_msgs::msg::Quaternion, tf2::Quaternion>(quat, q);
++  tf2::fromMsg(quat, q);
+   quat = tf2::toMsg(q.normalized());
+ }
+ 
+diff --git a/moveit_planners/pilz_industrial_motion_planner/include/joint_limits_copy/joint_limits_rosparam.hpp b/moveit_planners/pilz_industrial_motion_planner/include/joint_limits_copy/joint_limits_rosparam.hpp
+index 89bd99f1da..b135d1c3d3 100644
+--- a/moveit_planners/pilz_industrial_motion_planner/include/joint_limits_copy/joint_limits_rosparam.hpp
++++ b/moveit_planners/pilz_industrial_motion_planner/include/joint_limits_copy/joint_limits_rosparam.hpp
+@@ -32,7 +32,7 @@ namespace
+ template <typename T>
+ void declareParameterTemplate(const rclcpp::Node::SharedPtr& node, const std::string& name, T default_value)
+ {
+-  if (not node->has_parameter(name))
++  if (!node->has_parameter(name))
+   {
+     node->declare_parameter<T>(name, default_value);
+   }
+
diff --git a/vinca_win.yaml b/vinca_win.yaml
index 0403e8564..56a766002 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -27,7 +27,6 @@ packages_remove_from_deps:
   - tlsf_cpp
   - pendulum_control
   - warehouse_ros_mongo
-  - pilz-industrial-motion-planner
   # removed in jazzy, never supported windows, no packages depend on it
   - apex_containers
   # never worked in Windows, probably trivial to support if someone needs it
@@ -139,6 +138,8 @@ packages_select_by_deps:
   - moveit2_tutorials
   - moveit-planners-chomp
   - rqt-moveit
+  # Requested in https://github.com/RoboStack/ros-humble/issues/211
+  - pilz-industrial-motion-planner
   # - moveit2_tutorials   # this does not exist anymore
 
   - topic_tools