diff --git a/files/vcpkg-patches/msys.patch b/files/vcpkg-patches/msys.patch
new file mode 100644
index 0000000..e418339
--- /dev/null
+++ b/files/vcpkg-patches/msys.patch
@@ -0,0 +1,50 @@
+To solve: microsoft/vcpkg#30546.
+
+From 1fb05211dbf8af15745b44d9d760e07ccf2797d1 Mon Sep 17 00:00:00 2001
+From: Mengna-Li <543250287@qq.com>
+Date: Thu, 30 Mar 2023 10:15:17 +0000
+Subject: [PATCH] update runtime version
+
+---
+ scripts/cmake/vcpkg_acquire_msys.cmake | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/scripts/cmake/vcpkg_acquire_msys.cmake b/scripts/cmake/vcpkg_acquire_msys.cmake
+index 8b0b3d931d74e..67441df14b549 100644
+--- a/scripts/cmake/vcpkg_acquire_msys.cmake
++++ b/scripts/cmake/vcpkg_acquire_msys.cmake
+@@ -343,8 +343,8 @@ function(vcpkg_acquire_msys out_msys_root)
+         DEPS msys2-runtime
+     )
+     z_vcpkg_acquire_msys_declare_package(
+-        URL "https://repo.msys2.org/msys/x86_64/msys2-runtime-3.2.0-8-x86_64.pkg.tar.zst"
+-        SHA512 fdd86f4ffa6e274d6fef1676a4987971b1f2e1ec556eee947adcb4240dc562180afc4914c2bdecba284012967d3d3cf4d1a392f798a3b32a3668d6678a86e8d3
++        URL "https://repo.msys2.org/msys/x86_64/msys2-runtime-3.4.6-1-x86_64.pkg.tar.zst"
++        SHA512 fbdcf2572d242b14ef3b39f29a6119ee58705bad651c9da48ffd11e80637e8d767d20ed5d562f67d92eecd01f7fc3bc351af9d4f84fb9b321d2a9aff858b3619
+     )
+     z_vcpkg_acquire_msys_declare_package(
+         URL "https://repo.msys2.org/msys/x86_64/which-2.21-4-x86_64.pkg.tar.zst"
+From 0912a1a3cc5ebe16181d39f302ddab258f5b757d Mon Sep 17 00:00:00 2001
+From: Jonliu1993 <13720414433@163.com>
+Date: Fri, 13 Jan 2023 15:34:32 +0800
+Subject: [PATCH 1/2] [vcpkg] update msys-libiconv versio
+
+---
+ scripts/cmake/vcpkg_acquire_msys.cmake | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/scripts/cmake/vcpkg_acquire_msys.cmake b/scripts/cmake/vcpkg_acquire_msys.cmake
+index 98effb4f9ef32..5cfdd1dc67960 100644
+--- a/scripts/cmake/vcpkg_acquire_msys.cmake
++++ b/scripts/cmake/vcpkg_acquire_msys.cmake
+@@ -184,8 +184,8 @@ function(vcpkg_acquire_msys out_msys_root)
+         DEPS libiconv libintl
+     )
+     z_vcpkg_acquire_msys_declare_package(
+-        URL "https://repo.msys2.org/msys/x86_64/libtool-2.4.6-9-x86_64.pkg.tar.xz"
+-        SHA512 b309799e5a9d248ef66eaf11a0bd21bf4e8b9bd5c677c627ec83fa760ce9f0b54ddf1b62cbb436e641fbbde71e3b61cb71ff541d866f8ca7717a3a0dbeb00ebf
++        URL "https://repo.msys2.org/msys/x86_64/libtool-2.4.6-14-x86_64.pkg.tar.zst"
++        SHA512 ba983ed9c2996d06b0d21b8fab9505267115f2106341f130e92d6b66dad87b0f0e82707daf0b676a28966bfaa24f6c41b6eef9e1f9bf985611471024f2b0ac97
+         DEPS grep sed coreutils file findutils
+     )
+     z_vcpkg_acquire_msys_declare_package(
diff --git a/files/vcpkg-patches/release-only.patch b/files/vcpkg-patches/release-only.patch
new file mode 100644
index 0000000..b5496c0
--- /dev/null
+++ b/files/vcpkg-patches/release-only.patch
@@ -0,0 +1,39 @@
+diff --git a/triplets/x64-windows.cmake b/triplets/x64-windows.cmake
+index d0be7297f..bd6b9f271 100644
+--- a/triplets/x64-windows.cmake
++++ b/triplets/x64-windows.cmake
+@@ -2,3 +2,4 @@ set(VCPKG_TARGET_ARCHITECTURE x64)
+ set(VCPKG_CRT_LINKAGE dynamic)
+ set(VCPKG_LIBRARY_LINKAGE dynamic)
+
++set(VCPKG_BUILD_TYPE release)
+
+diff --git a/ports/dlfcn-win32/portfile.cmake b/ports/dlfcn-win32/portfile.cmake
+index 29726bcc3..1b2e8b4ba 100644
+--- a/ports/dlfcn-win32/portfile.cmake
++++ b/ports/dlfcn-win32/portfile.cmake
+@@ -14,12 +14,7 @@ vcpkg_cmake_configure(
+
+ vcpkg_cmake_install()
+
+-file(READ "${CURRENT_PACKAGES_DIR}/debug/share/dlfcn-win32/dlfcn-win32-targets-debug.cmake" dlfcn-win32_DEBUG_MODULE)
+-string(REPLACE "\${_IMPORT_PREFIX}" "\${_IMPORT_PREFIX}/debug" dlfcn-win32_DEBUG_MODULE "${dlfcn-win32_DEBUG_MODULE}")
+-file(WRITE "${CURRENT_PACKAGES_DIR}/share/dlfcn-win32/dlfcn-win32-targets-debug.cmake" "${dlfcn-win32_DEBUG_MODULE}")
+
+-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+ vcpkg_copy_pdbs()
+
+diff --git a/ports/ode/portfile.cmake b/ports/ode/portfile.cmake
+index 9b68b29f7..cc4dcadca 100644
+--- a/ports/ode/portfile.cmake
++++ b/ports/ode/portfile.cmake
+@@ -18,7 +18,6 @@ if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+     file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+ else()
+     vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/bin/ode-config" "${CURRENT_PACKAGES_DIR}" "`dirname $0`/..")
+-    vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/debug/bin/ode-config" "${CURRENT_PACKAGES_DIR}" "`dirname $0`/../..")
+ endif()
+ file(INSTALL "${SOURCE_PATH}/COPYING" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
+ file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
diff --git a/metadata.rb b/metadata.rb
index 8de7e1b..15a4661 100644
--- a/metadata.rb
+++ b/metadata.rb
@@ -7,6 +7,11 @@
 version "0.1.4"
 chef_version ">= 14.0"
 
-# be careful if set a version on docker since it can conflict with other
-# repositories (chef-osrf)
-depends "docker"
+# For adding dependencies on Windows pleaes check the tools/ directory
+# to be sure that bootstrap tools script is not broken afterwards
+
+if platform?('linux')
+  # be careful if set a version on docker since it can conflict with other
+  # repositories (chef-osrf)
+  depends "docker"
+end
diff --git a/recipes/pip_installs.rb b/recipes/pip_installs.rb
new file mode 100644
index 0000000..68fae78
--- /dev/null
+++ b/recipes/pip_installs.rb
@@ -0,0 +1,18 @@
+required_pip_packages = %w[
+  vcstool
+  colcon-common-extensions
+]
+
+# Use explicit location because python may not be on the PATH if chef-solo has not been run before
+#
+execute 'pip_update' do
+  command lazy {
+    "#{node.run_state[:python_dir]}\\python.exe -m pip install -U pip setuptools==59.6.0"
+  }
+end
+
+execute 'pip_required' do
+  command lazy {
+    "#{node.run_state[:python_dir]}\\python.exe -m pip install -U #{required_pip_packages.join(' ')}"
+  }
+end
diff --git a/recipes/python.rb b/recipes/python.rb
new file mode 100644
index 0000000..4b3dab7
--- /dev/null
+++ b/recipes/python.rb
@@ -0,0 +1,11 @@
+python_version = "3.11.2"
+python_dir = "C:\\Python#{python_version.split('.')[0..1].join}"
+
+# Add this value to the chef run state for use in the pip_installs recipe.
+node.run_state[:python_dir] = python_dir
+
+windows_package 'python' do
+  source "https://www.python.org/ftp/python/#{python_version}/python-#{python_version}-amd64.exe"
+  options "/quiet TargetDir=#{python_dir} PrependPath=1 Include_debug=1 Include_symbols=1"
+  installer_type :custom
+end
diff --git a/recipes/vcpkg.rb b/recipes/vcpkg.rb
new file mode 100644
index 0000000..5551024
--- /dev/null
+++ b/recipes/vcpkg.rb
@@ -0,0 +1,57 @@
+vcpkg_dir = 'C:/vcpkg'
+
+# TODO: (j-rivero): grab the snapshot tab from release-tools once the
+# gz-collections.yaml is ready with that info
+git vcpkg_dir do
+  repository 'https://github.com/microsoft/vcpkg.git'
+  revision '2022.02.23'
+  action :sync
+end
+
+# This should be in sync with release-tools scripts
+git "#{vcpkg_dir}/osrf_vcpkg_ports" do
+  repository 'https://github.com/osrf/vcpkg-ports/'
+  revision 'master'
+  action :sync
+end
+
+execute 'bootstrap-vcpkg' do
+  command "#{vcpkg_dir}/bootstrap-vcpkg.bat"
+  cwd vcpkg_dir
+  action :run
+end
+
+chocolatey_package 'patch'
+
+patches_temp = "#{vcpkg_dir}/.osrf_snapshot_patches"
+patches_applied = "#{patches_temp}/PACTHES_APPLIED"
+
+directory patches_temp do
+  action :create
+end
+
+vcpkg_patches = %w(
+  msys.patch
+  release-only.patch
+)
+
+# Copy the .patch files to a temporary directory
+vcpkg_patches.each do |file|
+  cookbook_file "#{patches_temp}\#{file}" do
+    source "vcpkg-patches/#{file}"
+    action :create
+    not_if { ::File.exist?(patches_applied) }
+  end
+
+  batch 'apply_patches' do
+    cwd vcpkg_dir
+    code "patch -p1 -i #{patches_temp}\#{file}"
+    action :run
+    not_if { ::File.exist?(patches_applied) }
+  end
+end
+
+file patches_applied do
+  action :create
+  not_if { ::File.exist?(patches_applied) }
+end
diff --git a/recipes/visual_studio.rb b/recipes/visual_studio.rb
new file mode 100644
index 0000000..493cd99
--- /dev/null
+++ b/recipes/visual_studio.rb
@@ -0,0 +1,66 @@
+# For more information about command line arguments, see:
+# https://docs.microsoft.com/en-us/visualstudio/install/use-command-line-parameters-to-install-visual-studio?view=vs-2019
+
+# If BuildTools is not already installed, install it
+packages_to_install =  %w[
+  Microsoft.Component.MSBuild
+  Microsoft.Net.Component.4.6.1.TargetingPack
+  Microsoft.Net.Component.4.8.SDK
+  Microsoft.VisualStudio.Component.CoreBuildTools
+  Microsoft.VisualStudio.Component.Roslyn.Compiler
+  Microsoft.VisualStudio.Component.TextTemplating
+  Microsoft.VisualStudio.Component.VC.ATL
+  Microsoft.VisualStudio.Component.VC.ATLMFC
+  Microsoft.VisualStudio.Component.VC.CLI.Support
+  Microsoft.VisualStudio.Component.VC.CoreBuildTools
+  Microsoft.VisualStudio.Component.VC.CoreIde
+  Microsoft.VisualStudio.Component.VC.Redist.14.Latest
+  Microsoft.VisualStudio.Component.VC.Tools.x86.x64
+  Microsoft.VisualStudio.Component.Windows10SDK
+  Microsoft.VisualStudio.Component.Windows10SDK.19041
+  Microsoft.VisualStudio.ComponentGroup.NativeDesktop.Core
+  Microsoft.VisualStudio.Workload.MSBuildTools
+  Microsoft.VisualStudio.Workload.VCTools
+]
+
+package_arguments = packages_to_install.map{ |pkg| '--add ' + pkg}.join(' ')
+base_options = '--quiet --wait --norestart '
+
+installer_options = base_options + package_arguments
+
+node.default['vs_version'] = 'community'
+
+visual_studio_source = 'https://aka.ms/vs/16/release/vs_%s.exe' % node['vs_version']
+
+vs_version_camel_case = {
+  'buildtools' => 'BuildTools',
+  'community' => 'Community',
+  'professional' => 'Professional',
+  'enterprise' => 'Enterprise'
+}[node['vs_version']]
+
+visual_studio_path = 'c:\\Program Files (x86)\\Microsoft Visual Studio\\2019\\%s' % vs_version_camel_case
+windows_package 'Update VS' do
+  source visual_studio_source
+  installer_type :custom
+  returns [0, 3010]
+  options 'update ' + installer_options
+  timeout 1200
+  only_if {::Dir.exist?(visual_studio_path)}
+end
+
+windows_package 'Install vs_buildtools' do
+  source visual_studio_source
+  installer_type :custom
+  action :install
+  returns [0, 1605, 1614, 1641, 3010]
+  options installer_options
+  timeout 1200
+  not_if {::Dir.exist?(visual_studio_path)}
+end
+
+windows_env 'VCTargetsPath' do
+  key_name 'VCTargetsPath'
+  value File.join(visual_studio_path, 'MSBuild\\Microsoft\\VC\\v160\\')
+  action :create
+end
diff --git a/recipes/windows_agent_build_tools.rb b/recipes/windows_agent_build_tools.rb
new file mode 100644
index 0000000..a08c227
--- /dev/null
+++ b/recipes/windows_agent_build_tools.rb
@@ -0,0 +1,37 @@
+windows_package 'Install cuda' do
+  source 'https://developer.download.nvidia.com/compute/cuda/12.0.1/local_installers/cuda_12.0.1_528.33_windows.exe'
+  installer_type :custom
+  options '/s'
+end
+
+include_recipe 'osrf_jenkins_agent::python'
+include_recipe 'osrf_jenkins_agent::pip_installs'
+include_recipe 'osrf_jenkins_agent::visual_studio'
+
+chocolatey_package 'meinberg-ntp'
+
+chocolatey_package 'wget'
+
+chocolatey_package 'ruby' do
+  version [ '3.1.3.1' ]
+end
+
+chocolatey_package 'cmake' do
+  version [ '3.25' ]
+end
+
+windows_env 'PATH' do
+  key_name 'PATH'
+  value 'C:\\Program Files\\Git\\cmd;C:\\Program Files\\CMake\\bin'
+  delim ';'
+  action :modify
+end
+
+# AdoptOpenJDK installer documentation https://adoptopenjdk.net/installation.html#windows-msi
+windows_package 'openjdk' do
+  options 'INSTALLLEVEL=1 /quiet'
+  source 'https://github.com/AdoptOpenJDK/openjdk8-binaries/releases/download/jdk8u242-b08_openj9-0.18.1/OpenJDK8U-jdk_x64_windows_openj9_8u242b08_openj9-0.18.1.msi'
+  action :install
+end
+
+include_recipe 'osrf_jenkins_agent::vcpkg'
diff --git a/tools/README.md b/tools/README.md
new file mode 100644
index 0000000..60b40a8
--- /dev/null
+++ b/tools/README.md
@@ -0,0 +1,18 @@
+# Provision a system with the base software
+
+In order to bring only the software dependencies used by the build agent to build software but do not link it to the buildfarm
+the helper script in this repository can be used. It will install chocolatey for installing git and chefdk and run chef
+installations to create a development enviroment which includes different system installations (CUDA, Visual Studio, etc) and
+the vcpkg installtion on `C:\vcpkg`.
+
+To run the helper:
+
+
+```powershell
+Set-ExecutionPolicy Bypass -Scope Process -Force;. { iwr -useb https://raw.githubusercontent.com/osrf/osrf_jenkins_agent/latest/tools/bootstrap-windows-base-packages.ps1 } | iex
+
+# Close the powershell and reopen (to get the git installation correctly)
+# run again
+
+Set-ExecutionPolicy Bypass -Scope Process -Force;. { iwr -useb https://raw.githubusercontent.com/osrf/osrf_jenkins_agent/latest/tools/bootstrap-windows-base-packages.ps1 } | iex
+```
diff --git a/tools/bootstrap-windows-base-packages.ps1 b/tools/bootstrap-windows-base-packages.ps1
new file mode 100644
index 0000000..fa49f89
--- /dev/null
+++ b/tools/bootstrap-windows-base-packages.ps1
@@ -0,0 +1,11 @@
+$ErrorActionPreference = 'Stop'
+Set-ExecutionPolicy Bypass -Scope Process -Force;. { iwr -useb https://chocolatey.org/install.ps1 } | iex
+choco install -y git chefdk
+refreshenv
+Import-Module "$env:ChocolateyInstall\helpers\chocolateyProfile.psm1"
+Write-Host "NEEDS TO CLOSE POWERSHELL AND RUN AGAIN TO MAKE GIT WORK"
+
+git clone --verbose --progress https://github.com/osrf/osrf_jenkins_agent.git
+cd osrf_jenkins_agent\tools
+chef-solo.bat -c ..\solo.rb -j osrf-windows-agent-pkgs.solo.json
+Write-Host "Completed chef-solo result $?"
diff --git a/tools/osrf-windows-agent-pkgs.solo.json b/tools/osrf-windows-agent-pkgs.solo.json
new file mode 100644
index 0000000..fc90948
--- /dev/null
+++ b/tools/osrf-windows-agent-pkgs.solo.json
@@ -0,0 +1,5 @@
+{
+	"run_list": ["recipe[osrf_jenkins_agent::windows_agent_build_tools]"],
+	"override_attributes": {
+	}
+}