diff --git a/.github/workflows/downstream.rosinstall b/.github/workflows/downstream.rosinstall
index 96e49e42123..f403ec6b3e4 100644
--- a/.github/workflows/downstream.rosinstall
+++ b/.github/workflows/downstream.rosinstall
@@ -10,7 +10,11 @@
     local-name: moveit_tutorials
     uri: https://github.com/ros-planning/moveit_tutorials.git
     version: master
+- git:
+    local-name: franka_ros
+    uri: https://github.com/rhaschke/franka_ros
+    version: develop
 - git:
     local-name: panda_moveit_config
-    uri: https://github.com/ros-planning/panda_moveit_config.git
-    version: melodic-devel
+    uri: https://github.com/rhaschke/panda_moveit_config.git
+    version: rework-coarse-hand-collisions
diff --git a/.github/workflows/upstream.rosinstall b/.github/workflows/upstream.rosinstall
index 4582a6f25b9..416b2c46ceb 100644
--- a/.github/workflows/upstream.rosinstall
+++ b/.github/workflows/upstream.rosinstall
@@ -6,3 +6,7 @@
     local-name: geometric_shapes
     uri: https://github.com/ros-planning/geometric_shapes.git
     version: noetic-devel
+- git:
+    local-name: srdfdom
+    uri: https://github.com/ubi-agni/srdfdom
+    version: rework-acm-defaults