diff --git a/.github/upstream.repos b/.github/upstream.repos
index f09982304c..d2efc6afa7 100644
--- a/.github/upstream.repos
+++ b/.github/upstream.repos
@@ -7,6 +7,10 @@ repositories:
     type: git
     url: https://github.com/moveit/moveit_visual_tools
     version: ros2
+  picknik_controllers:
+    type: git
+    url: https://github.com/sea-bass/picknik_controllers.git
+    version: fix-deprecated-realtime-tools-imports
   rosparam_shortcuts:
     type: git
     url: https://github.com/PickNikRobotics/rosparam_shortcuts
diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos
index d7566131ae..bf375bc303 100644
--- a/moveit2_tutorials.repos
+++ b/moveit2_tutorials.repos
@@ -7,6 +7,10 @@ repositories:
     type: git
     url: https://github.com/moveit/moveit_visual_tools
     version: ros2
+  picknik_controllers:
+    type: git
+    url: https://github.com/sea-bass/picknik_controllers.git
+    version: fix-deprecated-realtime-tools-imports
   # Remove ros2_kortex when rolling binaries are available.
   ros2_kortex:
     type: git