diff --git a/rosdep/gentoo.yaml b/rosdep/gentoo.yaml
new file mode 100644
index 0000000000000..0289d7904a863
--- /dev/null
+++ b/rosdep/gentoo.yaml
@@ -0,0 +1,20 @@
+assimp: 
+  gentoo: 
+    portage: 
+      packages: media-libs/assimp::lorelei-overlay
+gtest: 
+  gentoo: 
+    portage: 
+      packages: dev-cpp/gtest
+pcre: 
+  gentoo: 
+    portage: 
+      packages: dev-libs/libpcre
+tinyxml: 
+  gentoo: 
+    portage: 
+      packages: dev-libs/tinyxml[stl]
+yaml-cpp: 
+  gentoo: 
+    portage: 
+      packages: dev-cpp/yaml-cpp
\ No newline at end of file
diff --git a/rosdep/sources.list.d/20-default.list b/rosdep/sources.list.d/20-default.list
index 46f9b2f0ba7bc..a83ed84a32665 100644
--- a/rosdep/sources.list.d/20-default.list
+++ b/rosdep/sources.list.d/20-default.list
@@ -1,5 +1,6 @@
 # os-specific listings first
 yaml https://github.com/ros/rosdistro/raw/master/rosdep/osx-homebrew.yaml osx
+yaml https://github.com/ros/rosdistro/raw/master/rosdep/gentoo.yaml gentoo
 
 # generic
 yaml https://github.com/ros/rosdistro/raw/master/rosdep/base.yaml