diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index 19d712f4e..710a528db 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -54,6 +54,8 @@ packages_select_by_deps:
   - octomap-server
   - ackermann-msgs
   - fake-localization
+  - realsense2-description
+
   # - desktop
   # - desktop-full
   # # - pybind11_catkin  # Needs to be patched to use conda-forge's pybind11
@@ -172,7 +174,6 @@ packages_select_by_deps:
   # - turtlebot3-fake
   # - librealsense2
   # - realsense2_camera
-  # - realsense2-description
   # - ur-msgs
   # - rosdoc-lite
   # - ros_numpy
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 6cd5ea410..5321d043c 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -43,6 +43,7 @@ packages_select_by_deps:
   - octomap-server
   - ackermann-msgs
   - fake-localization
+  - realsense2-description
 
   # - rqt-gui
   # - catkin
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 785769a35..2c7a95675 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -35,6 +35,7 @@ packages_select_by_deps:
   - octomap-ros
   - ackermann-msgs
   - fake-localization
+  - realsense2-description
 
   # - rviz
   # - python-qt-binding
@@ -156,7 +157,6 @@ packages_select_by_deps:
   # - turtlebot3-fake
   # - librealsense2
   # - realsense2_camera
-  # - realsense2-description
   # - ur-msgs
   # - rosdoc-lite
   # - ros_numpy
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index 9b27837c4..8d0fb8d65 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -40,6 +40,7 @@ packages_select_by_deps:
   - octomap-ros
   - ackermann-msgs
   - fake-localization
+  - realsense2-description
 
   # - rviz
   # - python-qt-binding
diff --git a/vinca_win.yaml b/vinca_win.yaml
index 7006aa975..93c079cd1 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -41,7 +41,8 @@ packages_select_by_deps:
   - octomap-ros
   - ackermann-msgs
   - fake-localization
-  
+  - realsense2-description
+
   # - desktop
   # - rqt-gui
   # - catkin
@@ -130,7 +131,6 @@ packages_select_by_deps:
   # - niryo_one_simulation
 
   # - librealsense2
-  # - realsense2-description
   # - ur-msgs
   # - rosdoc-lite