diff --git a/vinca/generate_azure.py b/vinca/generate_azure.py
index da5bbb6..954691f 100644
--- a/vinca/generate_azure.py
+++ b/vinca/generate_azure.py
@@ -143,7 +143,10 @@ def get_all_ancestors(graph, node):
     current_node = node
 
     while True:
-        a = {a for a in graph[node] if a.startswith('ros-') or a.startswith('ros2')}
+        a = {a for a in graph.get(node, []) if a.startswith('ros-') or a.startswith('ros2')}
+        if not graph.get(node):
+            print(f"[yellow]{node} not found")
+
         ancestors |= a
         visited.add(current_node)
 
@@ -169,7 +172,10 @@ def add_additional_recipes(args):
 
     repodatas = get_skip_existing(vinca_conf, args.platform)
 
+    additional_recipes = []
     for recipe_path in glob.glob(additional_recipes_path + "/**/recipe.yaml"):
+        if not "ros-distro-mutex" in recipe_path:
+            continue
         with open(recipe_path) as recipe:
             additional_recipe = yaml.safe_load(recipe)
 
@@ -196,6 +202,9 @@ def add_additional_recipes(args):
             goal_folder = os.path.join(args.dir, name)
             os.makedirs(goal_folder, exist_ok=True)
             copy_tree(os.path.dirname(recipe_path), goal_folder)
+            additional_recipes.append(additional_recipe)
+
+    return additional_recipes
 
 
 def build_linux_pipeline(
@@ -392,8 +401,9 @@ def main():
 
     metas = []
 
+    additional_recipes = []
     if args.additional_recipes:
-        add_additional_recipes(args)
+        additional_recipes = add_additional_recipes(args)
 
     if not os.path.exists(args.dir):
         print(f"{args.dir} not found. Not generating a pipeline.")
@@ -406,7 +416,7 @@ def main():
     if len(metas) >= 1:
         requirements = {}
 
-        for pkg in full_tree:
+        for pkg in full_tree + additional_recipes:
             requirements[pkg["package"]["name"]] = pkg["requirements"].get(
                 "host", []
             ) + pkg["requirements"].get("run", [])
@@ -432,6 +442,7 @@ def main():
         tg = list(reversed(list(nx.topological_sort(G))))
 
         names_to_build = {pkg["package"]["name"] for pkg in metas}
+        print("Names to build: ", names_to_build)
         tg_slimmed = [el for el in tg if el in names_to_build]
 
         stages = []
@@ -472,6 +483,15 @@ def main():
     stages = batch_stages(filtered_stages)
     print(stages)
 
+    with open("buildorder.txt", "w") as fo:
+        order = []
+        for stage in filtered_stages:
+            for el in stage:
+                print(el)
+                order.append(el)
+
+        fo.write('\n'.join(order))
+
     if args.platform == "linux-64":
         build_linux_pipeline(stages, args.trigger_branch, outfile="linux.yml")
 
diff --git a/vinca/migrate.py b/vinca/migrate.py
index c637103..4618652 100644
--- a/vinca/migrate.py
+++ b/vinca/migrate.py
@@ -8,8 +8,9 @@
 import shutil
 import ruamel.yaml
 from .utils import get_repodata
-
+from vinca import config
 from vinca.distro import Distro
+from distutils.dir_util import copy_tree
 
 distro_version = None
 ros_prefix = None
@@ -114,6 +115,7 @@ def create_migration_instructions(arch, packages_to_migrate, trigger_branch):
     vinca_conf["packages_select_by_deps"] = ros_names
     vinca_conf["skip_all_deps"] = True
     vinca_conf["is_migration"] = True
+    vinca_conf["skip_existing"] = []
 
     with open("vinca.yaml", "w") as fo:
         yaml.dump(vinca_conf, fo)
@@ -121,9 +123,19 @@ def create_migration_instructions(arch, packages_to_migrate, trigger_branch):
     if os.path.exists("recipes"):
         shutil.rmtree("recipes")
 
+    mutex_path = os.path.join(config.parsed_args.dir, "additional_recipes/ros-distro-mutex")
+    if os.path.exists(mutex_path):
+        goal_folder = os.path.join(config.parsed_args.dir, "recipes", "ros-distro-mutex")
+        os.makedirs(goal_folder, exist_ok=True)
+        copy_tree(mutex_path, goal_folder)
+
+
     subprocess.check_call(
-        ["vinca", "-f", "vinca.yaml", "--multiple", "--platform", arch]
+        ["vinca", "-d", config.parsed_args.dir, "--multiple", "--platform", arch]
     )
+
+    # TODO remove hard coded build branch here!
+    recipe_dir = os.path.join(config.parsed_args.dir, "recipes")
     subprocess.check_call(
         [
             "vinca-azure",
@@ -132,9 +144,8 @@ def create_migration_instructions(arch, packages_to_migrate, trigger_branch):
             "--trigger-branch",
             "buildbranch_linux",
             "-d",
-            "./recipes",
+            recipe_dir,
             "--additional-recipes",
-            "--sequential",
         ]
     )
 
@@ -173,8 +184,7 @@ def parse_command_line(argv):
     )
 
     arguments = parser.parse_args(argv[1:])
-    global parsed_args
-    parsed_args = arguments
+    config.parsed_args = arguments
     return arguments