diff --git a/ports/console-bridge/CONTROL b/ports/console-bridge/CONTROL
index 4827ee1e45f60a..035b900760f551 100644
--- a/ports/console-bridge/CONTROL
+++ b/ports/console-bridge/CONTROL
@@ -1,4 +1,5 @@
 Source: console-bridge
 Version: 1.0.1
+Port-Version: 1
 Homepage: https://github.com/ros/console_bridge
 Description: a ROS-independent package for logging that seamlessly pipes into rosconsole/rosout for ROS-dependent packages.
diff --git a/ports/console-bridge/portfile.cmake b/ports/console-bridge/portfile.cmake
index 5ae65507ef9186..cd43cf0df3effe 100644
--- a/ports/console-bridge/portfile.cmake
+++ b/ports/console-bridge/portfile.cmake
@@ -22,6 +22,10 @@ else()
     file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/lib/console_bridge)
 endif()
 
+if(EXISTS ${CURRENT_PACKAGES_DIR}/lib/pkgconfig)
+    vcpkg_fixup_pkgconfig()
+endif()
+
 file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
 
 file(READ ${SOURCE_PATH}/src/console.cpp _contents)
diff --git a/ports/ignition-cmake2/CONTROL b/ports/ignition-cmake2/CONTROL
index 8a0ee541495b50..66c405a0d730b0 100644
--- a/ports/ignition-cmake2/CONTROL
+++ b/ports/ignition-cmake2/CONTROL
@@ -1,5 +1,5 @@
 Source: ignition-cmake2
-Version: 2.2.0-1
+Version: 2.5.0
 Homepage: https://ignitionrobotics.org/libs/cmake
 Description: CMake helper functions for building robotic applications
 Build-Depends: ignition-modularscripts
diff --git a/ports/ignition-cmake2/portfile.cmake b/ports/ignition-cmake2/portfile.cmake
index a9c895aac4e448..5c6879bf3ad87f 100644
--- a/ports/ignition-cmake2/portfile.cmake
+++ b/ports/ignition-cmake2/portfile.cmake
@@ -1,10 +1,10 @@
 include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
 
-set(PACKAGE_VERSION "2.2.0")
+set(PACKAGE_VERSION "2.5.0")
 
 ignition_modular_library(NAME cmake
                          VERSION ${PACKAGE_VERSION}
-                         SHA512 079b6d0cc5e2de83cf01f5731dd4e2e55e18e46c7506b6267a19a230fbbaa7b89053be4b42ca21584cf7fdd64de1d6305c7bc16fa3e0c5751b098fd0e5b98149)
+                         SHA512 dc546e5e4deabba12faec5fb0162309dfce9b429a6bbd6637c058acdda3eb4fa1e44e9b71f55603d0cff77550117dafc3fc8475621ede65fa8aa915254beb463)
 
 # Install custom usage
 configure_file(${CMAKE_CURRENT_LIST_DIR}/usage ${CURRENT_PACKAGES_DIR}/share/${PORT}/usage @ONLY)
diff --git a/ports/ignition-math6/CONTROL b/ports/ignition-math6/CONTROL
index 69d53eea18a914..72401976581b62 100644
--- a/ports/ignition-math6/CONTROL
+++ b/ports/ignition-math6/CONTROL
@@ -1,5 +1,5 @@
 Source: ignition-math6
-Version: 6.4.0
+Version: 6.6.0
 Homepage: https://ignitionrobotics.org/libs/math
 Build-Depends: eigen3, ignition-cmake2, ignition-modularscripts
 Description: Math API for robotic applications
diff --git a/ports/ignition-math6/portfile.cmake b/ports/ignition-math6/portfile.cmake
index ffb0062571f3c5..138d39acbbe4c1 100644
--- a/ports/ignition-math6/portfile.cmake
+++ b/ports/ignition-math6/portfile.cmake
@@ -1,5 +1,5 @@
 include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
 
 ignition_modular_library(NAME math
-                         VERSION "6.4.0"
-                         SHA512 8a6e672ef6de591d25200f288deaaa16cc43e3c90804ee5ead0f06345036afbfa40acb531eb5b6a1fa80bd34c0c5964662cc0659d8bed2c811ad7c776d6f77cb)
+                         VERSION "6.6.0"
+                         SHA512 1b5f59b45256daa81cbfb7da4727200d0d6cb4a75fbc3b83b512c18ec6307b5bd78b8ee7a84f0f8a8c334717a1480766f62658bd213e9021c09c0ed22caa921d)
diff --git a/ports/ignition-msgs5/CONTROL b/ports/ignition-msgs5/CONTROL
index 690ded1b6a60f5..b1317303b68b91 100644
--- a/ports/ignition-msgs5/CONTROL
+++ b/ports/ignition-msgs5/CONTROL
@@ -1,6 +1,6 @@
 Source: ignition-msgs5
-Version: 5.1.0
+Version: 5.3.0
 Port-Version: 1
 Build-Depends: ignition-modularscripts, ignition-cmake2, ignition-math6, protobuf, tinyxml2
 Description: Middleware protobuf messages for robotics
-Supports: !(arm|linux|uwp)
\ No newline at end of file
+Supports: !(arm|uwp)
\ No newline at end of file
diff --git a/ports/ignition-msgs5/portfile.cmake b/ports/ignition-msgs5/portfile.cmake
index aec3a6cd75c385..1174cb90681eca 100644
--- a/ports/ignition-msgs5/portfile.cmake
+++ b/ports/ignition-msgs5/portfile.cmake
@@ -1,6 +1,6 @@
 # Explicitly disable cross-compilation until the upstream discussion
 # https://github.com/ignitionrobotics/ign-msgs/issues/34 is solved
-vcpkg_fail_port_install(ON_ARCH "arm" ON_TARGET "linux" "uwp") 
+vcpkg_fail_port_install(ON_ARCH "arm" ON_TARGET "uwp") 
 
 include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
 
@@ -11,8 +11,8 @@ vcpkg_add_to_path(${CURRENT_INSTALLED_DIR}/bin)
 vcpkg_add_to_path(${CURRENT_INSTALLED_DIR}/debug/bin)
 
 ignition_modular_library(NAME msgs
-                         VERSION "5.1.0"
-                         SHA512 db485f737c465b310602342a1a751c561473e330eb18d1b322b32d13de246536fe6a7efdf245faaaa9be1c9bfce662b2d39d1bb7cffc37e52690893cb47cc2ee
+                         VERSION "5.3.0"
+                         SHA512 55c167d00b60ae6da0144a9495e9ac8aed61fcbdc61e057e75d31261e335c573543d60e28a7dc195a7c9849c5c6eb0e088d4f4e79fd927e83470a3f1fabef60e
                          PATCHES
                            "01-protobuf.patch")
 
diff --git a/ports/ignition-msgs6/CONTROL b/ports/ignition-msgs6/CONTROL
new file mode 100644
index 00000000000000..70aa5726cbdb0e
--- /dev/null
+++ b/ports/ignition-msgs6/CONTROL
@@ -0,0 +1,5 @@
+Source: ignition-msgs6
+Version: 6.0.0
+Build-Depends: ignition-modularscripts, ignition-cmake2, ignition-math6, protobuf, tinyxml2
+Description: Middleware protobuf messages for robotics
+Supports: !(arm|uwp)
diff --git a/ports/ignition-msgs6/portfile.cmake b/ports/ignition-msgs6/portfile.cmake
new file mode 100644
index 00000000000000..0a3ef841eb604d
--- /dev/null
+++ b/ports/ignition-msgs6/portfile.cmake
@@ -0,0 +1,18 @@
+# Explicitly disable cross-compilation until the upstream discussion
+# https://github.com/ignitionrobotics/ign-msgs/issues/34 is solved
+vcpkg_fail_port_install(ON_ARCH "arm" ON_TARGET "uwp") 
+
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+# This port needs  to generate protobuf messages with a custom plugin generator,
+# so it needs to have in Windows the relative protobuf dll available in the PATH
+set(path_backup $ENV{PATH})
+vcpkg_add_to_path(${CURRENT_INSTALLED_DIR}/bin)
+vcpkg_add_to_path(${CURRENT_INSTALLED_DIR}/debug/bin)
+
+ignition_modular_library(NAME msgs
+                         VERSION "6.0.0"
+                         SHA512 d1d6f6602ae33ec95b36c5df7815b06970f349492ef0309d8aacbaf2dca0c3e7314bbd64890a2554485fbd52f148a90b7bf54dceb0b3a1dd40eeb1f5bdb9613c)
+
+# Restore old path
+set(ENV{PATH} "${path_backup}")
diff --git a/ports/ignition-transport8/portfile.cmake b/ports/ignition-transport8/portfile.cmake
index a8bd8de8ed5e49..1155a1ab52a559 100644
--- a/ports/ignition-transport8/portfile.cmake
+++ b/ports/ignition-transport8/portfile.cmake
@@ -1,7 +1,7 @@
 include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
 
 ignition_modular_library(NAME transport
-                         VERSION "8.0.0"
-                         SHA512 ab1bae994a8676864ceb78b87f2258b8ed22036aed87e815fc22f830edd8b087d1ef0406dc0d053ea823d95b5fb765c4867d27ce5653f1d685001aab0cf0ec03
-                         # This can  be removed when the pc file of libuuid on Windows is fixed
+                         VERSION "8.1.0"
+                         SHA512 eb64f18721190fcb79a5b45746fd44fa24274c6fe6c5021dd9306c15a327873377d07d4aa770633982038b84da650d3d0c8a56169222c0c88fa1318314fc4529
+                         # This can be removed when the pc file of sqlite3 is available ( https://github.com/microsoft/vcpkg/issues/14327 )
                          DISABLE_PKGCONFIG_INSTALL)
diff --git a/ports/ignition-transport9/CONTROL b/ports/ignition-transport9/CONTROL
new file mode 100644
index 00000000000000..5c8a26b35540f2
--- /dev/null
+++ b/ports/ignition-transport9/CONTROL
@@ -0,0 +1,4 @@
+Source: ignition-transport9
+Version: 9.0.0
+Build-Depends: cppzmq, ignition-cmake2, ignition-msgs6, libuuid (!windows&!uwp), protobuf, sqlite3, zeromq
+Description: Transport middleware for robotics
diff --git a/ports/ignition-transport9/portfile.cmake b/ports/ignition-transport9/portfile.cmake
new file mode 100644
index 00000000000000..cd224b3f72cffc
--- /dev/null
+++ b/ports/ignition-transport9/portfile.cmake
@@ -0,0 +1,7 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME transport
+                         VERSION "9.0.0"
+                         SHA512 c3edb7a8a063b4aa5826838ae08c8ec2b3d14563492022df632a719409c95272f4f6a43d91f0c317e44b85921b5aedc1685670b81a7baa949f01af3b3534d76e
+                         # This can be removed when the pc file of sqlite3 is available ( https://github.com/microsoft/vcpkg/issues/14327 )
+                         DISABLE_PKGCONFIG_INSTALL)
diff --git a/ports/sdformat10/CONTROL b/ports/sdformat10/CONTROL
new file mode 100644
index 00000000000000..9ec10952d67f9f
--- /dev/null
+++ b/ports/sdformat10/CONTROL
@@ -0,0 +1,6 @@
+Source: sdformat10
+Version: 10.0.0
+Homepage: http://sdformat.org/
+Build-Depends: ignition-math6, urdfdom, tinyxml2
+Description: Simulation Description Format (SDF) parser and description files.
+Supports: !(uwp)
\ No newline at end of file
diff --git a/ports/sdformat10/portfile.cmake b/ports/sdformat10/portfile.cmake
new file mode 100644
index 00000000000000..d4166962f450c3
--- /dev/null
+++ b/ports/sdformat10/portfile.cmake
@@ -0,0 +1,41 @@
+vcpkg_fail_port_install(ON_TARGET "uwp")
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO osrf/sdformat
+    REF sdformat10_10.0.0
+    SHA512 1caf98427d25e7c17bfacaab20382c573fac0c965b40ad0c5e0efd32ddfdaa20250d8c79ecf574989ba10b1feb884a9df3927b18ec2cd88f7c66b4d8194bc731
+    HEAD_REF sdf10
+)
+
+# Ruby is required by the sdformat build process
+vcpkg_find_acquire_program(RUBY)
+get_filename_component(RUBY_PATH ${RUBY} DIRECTORY)
+set(_path $ENV{PATH})
+vcpkg_add_to_path(${RUBY_PATH})
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS 
+        -DBUILD_TESTING=OFF
+        -DUSE_EXTERNAL_URDF=ON
+        -DUSE_EXTERNAL_TINYXML=ON
+)
+
+vcpkg_install_cmake()
+
+# Restore original path
+set(ENV{PATH} ${_path})
+
+# Fix cmake targets and pkg-config file location
+vcpkg_fixup_cmake_targets(CONFIG_PATH "lib/cmake/sdformat10")
+vcpkg_fixup_pkgconfig()
+
+# Remove debug files
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include
+                    ${CURRENT_PACKAGES_DIR}/debug/lib/cmake
+                    ${CURRENT_PACKAGES_DIR}/debug/share)
+
+# Handle copyright
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
diff --git a/ports/urdfdom-headers/CONTROL b/ports/urdfdom-headers/CONTROL
index fca096943fa485..755c44c7e690a8 100644
--- a/ports/urdfdom-headers/CONTROL
+++ b/ports/urdfdom-headers/CONTROL
@@ -1,4 +1,5 @@
 Source: urdfdom-headers
 Version: 1.0.5
+Port-Version: 1
 Homepage: https://github.com/ros/urdfdom_headers
 Description: The URDF (U-Robot Description Format) headers provides core data structure headers for URDF.
diff --git a/ports/urdfdom-headers/portfile.cmake b/ports/urdfdom-headers/portfile.cmake
index 0ecbe2dce9e8e1..eac0cb96e7c1a0 100644
--- a/ports/urdfdom-headers/portfile.cmake
+++ b/ports/urdfdom-headers/portfile.cmake
@@ -22,11 +22,20 @@ else()
     file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/lib/urdfdom_headers)
 endif()
 
+if(EXISTS ${CURRENT_PACKAGES_DIR}/lib/pkgconfig)
+    vcpkg_fixup_pkgconfig()
+endif()
+
 # The config files for this project use underscore
 if(EXISTS ${CURRENT_PACKAGES_DIR}/share/urdfdom-headers)
     file(RENAME ${CURRENT_PACKAGES_DIR}/share/urdfdom-headers ${CURRENT_PACKAGES_DIR}/share/urdfdom_headers)
 endif()
 
-file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/)
+if(EXISTS ${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig)
+    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/share)
+else()
+    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug)
+endif()
 
 file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
diff --git a/ports/urdfdom/CONTROL b/ports/urdfdom/CONTROL
index 67fb4a32656ae1..99e5a425706baa 100644
--- a/ports/urdfdom/CONTROL
+++ b/ports/urdfdom/CONTROL
@@ -1,6 +1,6 @@
 Source: urdfdom
 Version: 1.0.4
-Port-Version: 2
+Port-Version: 3
 Homepage: https://github.com/ros/urdfdom
 Description: Provides core data structures and a simple XML parsers for populating the class data structures from an URDF file.
 Build-Depends: console-bridge, tinyxml, urdfdom-headers
diff --git a/ports/urdfdom/portfile.cmake b/ports/urdfdom/portfile.cmake
index b2dfeaf0c2ac8a..46226bc0e59bf2 100644
--- a/ports/urdfdom/portfile.cmake
+++ b/ports/urdfdom/portfile.cmake
@@ -29,6 +29,11 @@ else()
     file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/lib/urdfdom)
 endif()
 
+if(EXISTS ${CURRENT_PACKAGES_DIR}/lib/pkgconfig)
+    vcpkg_fixup_pkgconfig()
+endif()
+
+
 file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
 file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/bin)