diff --git a/distros/distro-overlay.nix b/distros/distro-overlay.nix
index 11216790b2..2995886553 100644
--- a/distros/distro-overlay.nix
+++ b/distros/distro-overlay.nix
@@ -249,6 +249,22 @@ let
       '';
     });
 
+    ros1-rosbag-storage-vendor = rosSuper.ros1-rosbag-storage-vendor.overrideAttrs ({
+      buildInputs ? [], propagatedBuildInputs ? [], ...
+    }: with self.rosPackages.noetic; {
+      # Depends on ROS 1 packages that can't be specified in package.xml
+      buildInputs = buildInputs ++ [ roscpp ];
+      # Should be specified as build_export_depend
+      propagatedBuildInputs = propagatedBuildInputs ++ [ self.bzip2 roslz4 ];
+    });
+
+    rosbag2-bag-v2-plugins = rosSuper.rosbag2-bag-v2-plugins.overrideAttrs ({
+      buildInputs ? [], ...
+    }: with self.rosPackages.noetic; {
+      # Depends on ROS 1 packages that can't be specified in package.xml
+      buildInputs = buildInputs ++ [ roscpp ];
+    });
+
     roscpp = patchBoostSignals rosSuper.roscpp;
 
     rmw-implementation = rosSuper.rmw-implementation.overrideAttrs ({
diff --git a/distros/foxy/overrides.nix b/distros/foxy/overrides.nix
index 477b71cb32..706c85ff01 100644
--- a/distros/foxy/overrides.nix
+++ b/distros/foxy/overrides.nix
@@ -14,6 +14,11 @@ rosSelf: rosSuper: with rosSelf.lib; {
     sha256 = "0v6ks4hpxmakgymcfvafynla76gl3866grgwf4vjdsb4rsvr13vx";
   };
 
+  ros1-rosbag-storage-vendor = patchVendorUrl rosSuper.ros1-rosbag-storage-vendor {
+    url = "https://github.com/ros/ros_comm/archive/669fbd32d2f92cc295f4b024fcb2f982fddec0f0.zip";
+    sha256 = "0phwk8imiy72xnizqj3y6vn5crjrcpr4qazhphv49r8zprirn6nj";
+  };
+
   rviz-ogre-vendor = patchVendorUrl rosSuper.rviz-ogre-vendor {
     url = "https://github.com/OGRECave/ogre/archive/v1.12.1.zip";
     sha256 = "1iv6k0dwdzg5nnzw2mcgcl663q4f7p2kj7nhs8afnsikrzxxgsi4";
diff --git a/distros/galactic/overrides.nix b/distros/galactic/overrides.nix
index f4e4c996fb..a9238e68c2 100644
--- a/distros/galactic/overrides.nix
+++ b/distros/galactic/overrides.nix
@@ -28,6 +28,11 @@ rosSelf: rosSuper: with rosSelf.lib; {
     sha256 = "0145vj9hrhb9qjp6jfvw0d1qc31lbb103xzxscr0yms0asv4sl4p";
   };
 
+  ros1-rosbag-storage-vendor = patchVendorUrl rosSuper.ros1-rosbag-storage-vendor {
+    url = "https://github.com/ros/ros_comm/archive/08fcc096f4e822b56bfb5a30b0a09ec45f0802aa.zip";
+    sha256 = "0av26k0rxvlg839snpcbvdcd0gy6yp6wm74wmvp32n9slfkcvcd7";
+  };
+
   rviz-ogre-vendor = patchVendorUrl rosSuper.rviz-ogre-vendor {
     url = "https://github.com/OGRECave/ogre/archive/v1.12.1.zip";
     sha256 = "1iv6k0dwdzg5nnzw2mcgcl663q4f7p2kj7nhs8afnsikrzxxgsi4";