diff --git a/rolling/distribution.yaml b/rolling/distribution.yaml
index 39e261e4b98db..1b2538150567e 100644
--- a/rolling/distribution.yaml
+++ b/rolling/distribution.yaml
@@ -5086,6 +5086,22 @@ repositories:
       url: https://github.com/splintered-reality/py_trees_ros_interfaces.git
       version: devel
     status: developed
+  py_trees_ros_viewer:
+    doc:
+      type: git
+      url: https://github.com/splintered-reality/py_trees_ros_viewer.git
+      version: devel
+    release:
+      tags:
+        release: release/rolling/{package}/{version}
+      url: https://github.com/ros2-gbp/py_trees_ros_viewer-release.git
+      version: 0.2.4-1
+    source:
+      test_pull_requests: true
+      type: git
+      url: https://github.com/splintered-reality/py_trees_ros_viewer.git
+      version: devel
+    status: developed
   pybind11_json_vendor:
     doc:
       type: git