diff --git a/foxy/distribution.yaml b/foxy/distribution.yaml
index fcd6ac7db3431..d089bdd11c1bc 100644
--- a/foxy/distribution.yaml
+++ b/foxy/distribution.yaml
@@ -1622,6 +1622,21 @@ repositories:
       url: https://github.com/ros-drivers/phidgets_drivers.git
       version: dashing
     status: maintained
+  pinocchio:
+    doc:
+      type: git
+      url: https://github.com/stack-of-tasks/pinocchio.git
+      version: master
+    release:
+      tags:
+        release: release/foxy/{package}/{version}
+      url: https://github.com/ipab-slmc/pinocchio_catkin-release.git
+      version: 2.5.0-1
+    source:
+      type: git
+      url: https://github.com/stack-of-tasks/pinocchio.git
+      version: master
+    status: developed
   plotjuggler_msgs:
     release:
       tags: