diff --git a/.github/upstream.repos b/.github/upstream.repos
index 5bc1768e18..4982f5ddeb 100644
--- a/.github/upstream.repos
+++ b/.github/upstream.repos
@@ -1,4 +1,7 @@
 repositories:
+  franka_ros2:
+    type: git
+    url: https://github.com/frankaemika/franka_ros2.git
   moveit_task_constructor:
     type: git
     url: https://github.com/ros-planning/moveit_task_constructor.git
diff --git a/package.xml b/package.xml
index 9a3a528145..d9060bb2ef 100644
--- a/package.xml
+++ b/package.xml
@@ -44,7 +44,7 @@
   <build_depend>moveit_common</build_depend>
   <build_depend>moveit_ros_planning</build_depend>
 
-  <!-- <exec_depend>franka_description</exec_depend> -->
+  <exec_depend>franka_description</exec_depend>
   <!-- <exec_depend>moveit_commander</exec_depend> -->
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>gripper_controllers</exec_depend>