diff --git a/rosdep/base.yaml b/rosdep/base.yaml
index 253989d83b05a..5e1d28a49cafc 100755
--- a/rosdep/base.yaml
+++ b/rosdep/base.yaml
@@ -2850,6 +2850,34 @@ libopenvdb-dev:
   fedora: [openvdb-devel]
   gentoo: [media-gfx/openvdb]
   ubuntu: [libopenvdb-dev, libilmbase-dev]
+liborocos-bfl:
+  debian:
+    '*': [liborocos-bfl0.8]
+    'stretch': null
+  fedora: [orocos-bfl]
+  ubuntu:
+    '*': [liborocos-bfl0.8]
+    'bionic': null
+    'xenial': null
+liborocos-bfl-dev:
+  debian: [liborocos-bfl-dev]
+  fedora: [orocos-bfl-devel]
+  ubuntu: [liborocos-bfl-dev]
+liborocos-kdl:
+  debian:
+    '*': [liborocos-kdl1.4]
+    'stretch': [liborocos-kdl1.3]
+  fedora: [orocos-kdl]
+  gentoo: [sci-libs/orocos_kdl]
+  ubuntu:
+    '*': [liborocos-kdl1.4]
+    'bionic': [liborocos-kdl1.3]
+    'xenial': [liborocos-kdl1.3]
+liborocos-kdl-dev:
+  debian: [liborocos-kdl-dev]
+  fedora: [orocos-kdl-devel]
+  gentoo: [sci-libs/orocos_kdl]
+  ubuntu: [liborocos-kdl-dev]
 libosmesa6-dev:
   arch: [mesa]
   debian: [libosmesa6-dev]
diff --git a/rosdep/osx-homebrew.yaml b/rosdep/osx-homebrew.yaml
index fc81ca7ef48fe..2fa74a1ba2d61 100644
--- a/rosdep/osx-homebrew.yaml
+++ b/rosdep/osx-homebrew.yaml
@@ -263,6 +263,14 @@ libopenni2-dev:
   osx:
     homebrew:
       packages: [openni2]
+liborocos-kdl:
+  osx:
+    homebrew:
+      packages: [orocos-kdl]
+liborocos-kdl-dev:
+  osx:
+    homebrew:
+      packages: [orocos-kdl]
 libpcap:
   osx:
     homebrew:
diff --git a/rosdep/python.yaml b/rosdep/python.yaml
index ee7cd86bde291..11e7cc68adc8d 100644
--- a/rosdep/python.yaml
+++ b/rosdep/python.yaml
@@ -5516,6 +5516,15 @@ python3-pygraphviz:
   rhel: ['python%{python3_pkgversion}-pygraphviz']
   slackware: [pygraphviz]
   ubuntu: [python3-pygraphviz]
+python3-pykdl:
+  debian:
+    '*': [python3-pykdl]
+    'bionic': null
+    'xenial': null
+  ubuntu:
+    '*': [python3-pykdl]
+    'bionic': null
+    'xenial': null
 python3-pyparsing:
   arch: [python-pyparsing]
   debian: [python3-pyparsing]