diff --git a/ros_controls.rolling-on-humble.repos b/ros_controls.rolling-on-humble.repos
index 01d3aba..6f912a3 100644
--- a/ros_controls.rolling-on-humble.repos
+++ b/ros_controls.rolling-on-humble.repos
@@ -35,3 +35,71 @@ repositories:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
     version: master
+  gz/gz_plugin_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_plugin_vendor.git
+    version: rolling
+  gz/gz_sim_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_sim_vendor.git
+    version: rolling
+  gz/gz_cmake_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_cmake_vendor.git
+    version: rolling
+  gz/gz_utils_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_utils_vendor.git
+    version: rolling
+  gz/gz_tools_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_tools_vendor.git
+    version: rolling
+  gz/sdformat_vendor:
+    type: git
+    url: https://github.com/gazebo-release/sdformat_vendor.git
+    version: rolling
+  gz/gz_math_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_math_vendor.git
+    version: rolling
+  gz/gz_transport_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_transport_vendor.git
+    version: rolling
+  gz/gz_sensors_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_sensors_vendor.git
+    version: rolling
+  gz/gz_msgs_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_msgs_vendor.git
+    version: rolling
+  gz/gz_common_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_common_vendor.git
+    version: rolling
+  gz/gz_rendering_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_rendering_vendor.git
+    version: rolling
+  gz/gz_ogre_next_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_ogre_next_vendor.git
+    version: rolling
+  gz/gz_physics_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_physics_vendor.git
+    version: rolling
+  gz/gz_fuel_tools_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_fuel_tools_vendor.git
+    version: rolling
+  gz/gz_gui_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_gui_vendor.git
+    version: rolling
+  gz/gz_dartsim_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_dartsim_vendor.git
+    version: rolling
diff --git a/ros_controls.rolling-on-iron.repos b/ros_controls.rolling-on-iron.repos
index 01d3aba..6f912a3 100644
--- a/ros_controls.rolling-on-iron.repos
+++ b/ros_controls.rolling-on-iron.repos
@@ -35,3 +35,71 @@ repositories:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
     version: master
+  gz/gz_plugin_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_plugin_vendor.git
+    version: rolling
+  gz/gz_sim_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_sim_vendor.git
+    version: rolling
+  gz/gz_cmake_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_cmake_vendor.git
+    version: rolling
+  gz/gz_utils_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_utils_vendor.git
+    version: rolling
+  gz/gz_tools_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_tools_vendor.git
+    version: rolling
+  gz/sdformat_vendor:
+    type: git
+    url: https://github.com/gazebo-release/sdformat_vendor.git
+    version: rolling
+  gz/gz_math_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_math_vendor.git
+    version: rolling
+  gz/gz_transport_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_transport_vendor.git
+    version: rolling
+  gz/gz_sensors_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_sensors_vendor.git
+    version: rolling
+  gz/gz_msgs_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_msgs_vendor.git
+    version: rolling
+  gz/gz_common_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_common_vendor.git
+    version: rolling
+  gz/gz_rendering_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_rendering_vendor.git
+    version: rolling
+  gz/gz_ogre_next_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_ogre_next_vendor.git
+    version: rolling
+  gz/gz_physics_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_physics_vendor.git
+    version: rolling
+  gz/gz_fuel_tools_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_fuel_tools_vendor.git
+    version: rolling
+  gz/gz_gui_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_gui_vendor.git
+    version: rolling
+  gz/gz_dartsim_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_dartsim_vendor.git
+    version: rolling