diff --git a/foxy/distribution.yaml b/foxy/distribution.yaml
index eca2f0339bb66..2997173a77eb2 100644
--- a/foxy/distribution.yaml
+++ b/foxy/distribution.yaml
@@ -651,6 +651,21 @@ repositories:
       url: https://github.com/ros/eigen_stl_containers.git
       version: ros2
     status: maintained
+  eigenpy:
+    doc:
+      type: git
+      url: https://github.com/stack-of-tasks/eigenpy.git
+      version: master
+    release:
+      tags:
+        release: release/foxy/{package}/{version}
+      url: https://github.com/ipab-slmc/eigenpy_catkin-release.git
+      version: 2.5.0-1
+    source:
+      type: git
+      url: https://github.com/stack-of-tasks/eigenpy.git
+      version: master
+    status: developed
   example_interfaces:
     doc:
       type: git