diff --git a/rosdistro_additional_recipes.yaml b/rosdistro_additional_recipes.yaml
index df2c935e4..439a07d78 100644
--- a/rosdistro_additional_recipes.yaml
+++ b/rosdistro_additional_recipes.yaml
@@ -1,6 +1,14 @@
 # This file is used to add additional recipes to the ROS 2 distribution, not contained in the
 # upstream rosdistro. Differently from rosdistro_snapshot.yaml, this file is not
 # automatically generated, but manually maintained.
+
+beluga:
+  # Until: https://github.com/Ekumen-OS/beluga/pull/578
+  url: https://github.com/nobleo/beluga.git
+  rev: 6b1b6a2b9ddb36f7c777b86a2eb403434c5e892c
+  version: 2.1.1
+  additional_folder: beluga
+
 livox_ros_driver2:
   tag: 1.2.4
   url: https://github.com/Livox-SDK/livox_ros_driver2.git
@@ -257,4 +265,4 @@ ros2_medkit_sovd_service_interface:
 ros2_medkit_topic_beacon:
   tag: release/jazzy/ros2_medkit_topic_beacon/0.6.0-1
   url: https://github.com/ros2-gbp/ros2_medkit-release.git
-  version: 0.6.0
\ No newline at end of file
+  version: 0.6.0
diff --git a/vinca.yaml b/vinca.yaml
index 7faef88c3..828791d20 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -48,6 +48,9 @@ packages_select_by_deps:
   - ament_cmake_catch2
   - ament_cmake_mypy
 
+  - beluga_amcl
+  - beluga_ros
+
   # Generic dependencies used by Isaac ROS without Jazzy rosdistro releases.
   - negotiated
   - topic_based_ros2_control