diff --git a/gazebo-pr2862-simpletrackedvehicle-fix-for-boost-1.74.patch b/gazebo-pr2862-simpletrackedvehicle-fix-for-boost-1.74.patch
index 4cb94c4..0f0b153 100644
--- a/gazebo-pr2862-simpletrackedvehicle-fix-for-boost-1.74.patch
+++ b/gazebo-pr2862-simpletrackedvehicle-fix-for-boost-1.74.patch
@@ -1,30 +1,16 @@
-From 063d7386ed5499c2883de48e19ff5fb9dec01dff Mon Sep 17 00:00:00 2001
-From: Steve Peters <scpeters@openrobotics.org>
-Date: Tue, 27 Oct 2020 00:28:40 -0700
-Subject: [PATCH] SimpleTrackedVehiclePlugin: fix for boost 1.74 (#2862)
-
-Disable some code in SimpleTrackedVehiclePlugin for boost 1.74
-or greater due to changes in boost shared_ptr.hpp
-
-Signed-off-by: Steve Peters <scpeters@openrobotics.org>
----
- plugins/SimpleTrackedVehiclePlugin.cc | 4 ++++
- 1 file changed, 4 insertions(+)
-
-diff --git a/plugins/SimpleTrackedVehiclePlugin.cc b/plugins/SimpleTrackedVehiclePlugin.cc
-index 3be4776f8f..c5a22b0278 100644
---- a/plugins/SimpleTrackedVehiclePlugin.cc
-+++ b/plugins/SimpleTrackedVehiclePlugin.cc
+diff -up ./plugins/SimpleTrackedVehiclePlugin.cc.boost174 ./plugins/SimpleTrackedVehiclePlugin.cc
+--- ./plugins/SimpleTrackedVehiclePlugin.cc.boost174	2020-01-31 18:02:56.000000000 -0500
++++ ./plugins/SimpleTrackedVehiclePlugin.cc	2023-11-24 15:05:35.818739576 -0500
 @@ -18,6 +18,8 @@
  #include <functional>
  #include <vector>
  
 +#include <boost/version.hpp>
 +
- #include <ignition/common/Profiler.hh>
  #include <ignition/math/Vector3.hh>
  #include <ignition/math/Pose3.hh>
-@@ -30,6 +32,7 @@
+ 
+@@ -29,6 +31,7 @@
  
  #include "plugins/SimpleTrackedVehiclePlugin.hh"
  
@@ -32,7 +18,7 @@ index 3be4776f8f..c5a22b0278 100644
  namespace std {
  template<class T>
  class hash<boost::shared_ptr<T>> {
-@@ -38,6 +41,7 @@ class hash<boost::shared_ptr<T>> {
+@@ -37,6 +40,7 @@ class hash<boost::shared_ptr<T>> {
    }
  };
  }
@@ -40,4 +26,3 @@ index 3be4776f8f..c5a22b0278 100644
  
  namespace gazebo
  {
-