diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 22a884f3..8af8498a 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -24,6 +24,21 @@ on:
         required: false
         default: ''
         type: string
+      windows_dependencies:
+        description: 'Path to a repos file with additional windows dependencies'
+        required: false
+        default: ''
+        type: string
+      install_boost:
+        description: 'Install boost'
+        required: false
+        default: false
+        type: boolean
+      install_vcpkg:
+        description: 'Install vcpkg'
+        required: false
+        default: false
+        type: boolean
 
 jobs:
   reusable_ros_tooling_source_build:
@@ -34,17 +49,58 @@ jobs:
       # this will be src/{repo-owner}/{repo-name}
       repo_path: src/${{ github.repository }}
     steps:
+
       - uses: actions/setup-python@v5
-        # setup-ros has hardcoded python 3.8, as it is the default version acc. to REP-2000 for jazzy
         # let's use the same version here for the later action-ros-ci step
         with:
-          python-version: '3.8'
+          python-version: '3.12'
 
-      - uses: ros-tooling/setup-ros@0.7.9
+      - uses: christophfroehlich/setup-ros@master
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
           use-ros2-testing: true
 
+      - name: vcpkg build
+        uses: johnwason/vcpkg-action@v6
+        if: ${{ inputs.install_vcpkg }}
+        id: vcpkg
+        with:
+          # eigen should be installed with setup-ros, but cmake can't find it in the action-ros-ci step
+          pkgs: fmt eigen3
+          triplet: x64-windows-release
+          token: ${{ github.token }}
+          github-binarycache: true
+
+      - name: Make json from vcpkg cmake
+        if: ${{ inputs.install_vcpkg }}
+        id: vcpkg-json
+        run: |
+          # Split the string on spaces and assign to variables
+          $variables = "${{ steps.vcpkg.outputs.vcpkg-cmake-config }}" -split ' '
+          # Replace forward slashes with backslashes (for Windows) and escape them for json
+          $singlePath = $variables[0] -replace "/", "\"
+          $doublePath = $singlePath -replace "\\", "\\"
+          Write-Host "Transformed output: $doublePath"
+          $var2 = $variables[1]
+          $var3 = $variables[2]
+          "toolchain-file=$doublePath" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
+          "target-triplet=$var2" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
+          "manifest-mode=$var3" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
+
+      - name: Install boost
+        uses: MarkusJx/install-boost@v2.4.5
+        if: ${{ inputs.install_boost }}
+        id: install-boost
+        with:
+            # REQUIRED: Specify the required boost version
+            # A list of supported versions can be found here:
+            # https://github.com/MarkusJx/prebuilt-boost/blob/main/versions-manifest.json
+            boost_version: 1.86.0
+            # OPTIONAL: Specify a platform version
+            platform_version: 2019
+            # OPTIONAL: Specify a toolset
+            toolset: msvc
+
       - name: Checkout default ref when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
         uses: actions/checkout@v4
@@ -70,25 +126,36 @@ jobs:
               "repo_file=${{ env.repo_path }}/${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
           } else {
             Write-Output "No local repos file found"
-            "repo_file=" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
           }
-
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.8'
+          if (-not [string]::IsNullOrEmpty("${{ inputs.windows_dependencies }}")) {
+            Write-Output "Using provided windows dependencies file"
+            "repo_file_windows=${{ env.repo_path }}/${{ inputs.windows_dependencies }}" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
+          } else {
+            Write-Output "No windows dependencies file provided"
+          }
 
       - uses: ros-tooling/action-ros-ci@0.3.15
+        env:
+            BOOST_ROOT: ${{ steps.install-boost.outputs.BOOST_ROOT }}
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           package-name: ${{ steps.package_list_action.outputs.package_list }}
           vcs-repo-file-url: |
             ${{ steps.check_local_repos.outputs.repo_file }}
+            ${{ steps.check_local_repos.outputs.repo_file_windows }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
           colcon-defaults: |
             {
-                "test": {
-                    "executor": "sequential"
-                }
+              "build": {
+                "cmake-args": [
+                  "${{ steps.vcpkg-json.outputs.toolchain-file }}",
+                  "${{ steps.vcpkg-json.outputs.target-triplet }}",
+                  "${{ steps.vcpkg-json.outputs.manifest-mode }}"
+                ]
+              },
+              "test": {
+                "executor": "sequential"
+              }
             }
         id: action-ros