diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index a7d29d23..6b81cbd1 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -135,6 +135,8 @@ packages_select_by_deps:
   - ros-gz
   - libg2o
 
+  - gtsam
+
   # Needs fixing
   # - moveit-resources
 
@@ -510,4 +512,3 @@ packages_select_by_deps:
   # - osrf_testing_tools_cpp
 
 patch_dir: patch
-
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 7a97fabb..da50132c 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -91,6 +91,8 @@ packages_select_by_deps:
   # Modern gz-sim integration
   - ros-gz
 
+  - gtsam
+
   # Used to work, now needs fixes
   # - rtabmap
   # - webots-ros2
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 00ad585c..88d6fd5f 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -101,4 +101,6 @@ packages_select_by_deps:
   # - moveit
   # - moveit_servo
 
+  - gtsam
+
 patch_dir: patch
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index 77d47eba..9c968812 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -91,5 +91,6 @@ packages_select_by_deps:
 
   # - moveit
 
+  - gtsam
 
 patch_dir: patch