diff --git a/sources.repos b/sources.repos
index 11b24de381..04b9d6db2b 100644
--- a/sources.repos
+++ b/sources.repos
@@ -651,6 +651,10 @@ repositories:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
     version: melodic-devel
+  realtime_urdf_filter:
+    type: git
+    url: https://github.com/blodow/realtime_urdf_filter.git
+    version: master
   resource_retriever:
     type: git
     url: https://github.com/ros-o/resource_retriever.git