diff --git a/stretch_demo.repos b/stretch_demo.repos
new file mode 100644
index 0000000..2fb053a
--- /dev/null
+++ b/stretch_demo.repos
@@ -0,0 +1,26 @@
+repositories:
+  moveit2:
+    type: git
+    url: https://github.com/DLu/moveit2
+    version: diff_drive_plus_fake
+  srdfdom:
+    type: git
+    url: https://github.com/DLu/srdfdom
+    version: diff_drive_joint2
+  stretch_kinematics_plugin:
+    type: git
+    url: https://github.com/PickNikRobotics/stretch_kinematics_plugin
+    version: pr-stretch_kp
+  stretch_ros:
+    type: git
+    url: https://github.com/PickNikRobotics/stretch_ros
+    version: ros2_diffdrive
+
+  # Unrelated to this demo, but needed for building
+  warehouse_ros_mongo:
+    type: git
+    url: https://github.com/ros-planning/warehouse_ros_mongo
+    version: ros2
+
+# Also had to run
+# sudo apt install ros-foxy-moveit-msgs ros-foxy-warehouse-ros ros-foxy-geometric-shapes ros-foxy-realsense2-description ros-foxy-hardware-interface ros-foxy-controller-manager ros-foxy-ros2-controllers