diff --git a/humble/distribution.yaml b/humble/distribution.yaml
index 9b1f146900c2b..228ddccfa94be 100644
--- a/humble/distribution.yaml
+++ b/humble/distribution.yaml
@@ -1717,6 +1717,16 @@ repositories:
       url: https://github.com/ros-drivers/gscam.git
       version: ros2
     status: developed
+  gtsam:
+    doc:
+      type: git
+      url: https://github.com/borglab/gtsam.git
+      version: develop
+    source:
+      type: git
+      url: https://github.com/borglab/gtsam.git
+      version: develop
+    status: developed
   hash_library_vendor:
     doc:
       type: git
diff --git a/rolling/distribution.yaml b/rolling/distribution.yaml
index 7bb503ab4806c..f1158a975ccc0 100644
--- a/rolling/distribution.yaml
+++ b/rolling/distribution.yaml
@@ -1602,6 +1602,16 @@ repositories:
       url: https://github.com/ros-drivers/gscam.git
       version: ros2
     status: developed
+  gtsam:
+    doc:
+      type: git
+      url: https://github.com/borglab/gtsam.git
+      version: develop
+    source:
+      type: git
+      url: https://github.com/borglab/gtsam.git
+      version: develop
+    status: developed
   hash_library_vendor:
     doc:
       type: git