diff --git a/example/bazel.repos b/example/bazel.repos
index 350eaab..bfae723 100644
--- a/example/bazel.repos
+++ b/example/bazel.repos
@@ -19,6 +19,10 @@ repositories:
     type: git
     url: https://github.com/gazebosim/sdformat
     version: mjcarroll/garden_bazel
+  transport:
+    type: git
+    url: https://github.com/gazebosim/gz-transport
+    version: mjcarroll/garden_bazel
   utils:
     type: git
     url: https://github.com/gazebosim/gz-utils
diff --git a/workspace/default.bzl b/workspace/default.bzl
index 71d79d8..b623028 100644
--- a/workspace/default.bzl
+++ b/workspace/default.bzl
@@ -16,8 +16,10 @@ load("@gz//bazel/workspace/gts:repository.bzl", "gts_repository")  # noqa
 load("@gz//bazel/workspace/pycodestyle:repository.bzl", "pycodestyle_repository")  # noqa
 load("@gz//bazel/workspace/rules_proto:repository.bzl", "rules_proto_repository")  # noqa
 load("@gz//bazel/workspace/rules_python:repository.bzl", "rules_python_repository")  # noqa
+load("@gz//bazel/workspace/sqlite3:repository.bzl", "sqlite3_repository")  # noqa
 load("@gz//bazel/workspace/tinyxml2:repository.bzl", "tinyxml2_repository")  # noqa
 load("@gz//bazel/workspace/uuid:repository.bzl", "uuid_repository")  # noqa
+load("@gz//bazel/workspace/zmq:repository.bzl", "zmq_repository")  # noqa
 
 def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
     """Declares workspace repositories for all externals needed by drake (other
@@ -56,10 +58,14 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         rules_proto_repository(name = "rules_proto", mirrors = mirrors)
     if "rules_python" not in excludes:
         rules_python_repository(name = "rules_python", mirrors = mirrors)
+    if "sqlite3" not in excludes:
+        sqlite3_repository(name = "sqlite3")
     if "tinyxml2" not in excludes:
         tinyxml2_repository(name = "tinyxml2")
     if "uuid" not in excludes:
         uuid_repository(name = "uuid")
+    if "zmq" not in excludes:
+        zmq_repository(name = "zmq")
 
 def add_default_toolchains(excludes = []):
     """Register toolchains for each language (e.g., "py") not explicitly
diff --git a/workspace/sqlite3/BUILD.bazel b/workspace/sqlite3/BUILD.bazel
new file mode 100644
index 0000000..e69de29
diff --git a/workspace/sqlite3/package.BUILD.bazel b/workspace/sqlite3/package.BUILD.bazel
new file mode 100644
index 0000000..5d2f875
--- /dev/null
+++ b/workspace/sqlite3/package.BUILD.bazel
@@ -0,0 +1,17 @@
+# -*- python -*-
+
+load(":vars.bzl", "LIBDIR")
+
+cc_library(
+    name = "sqlite3",
+    hdrs = glob([
+        "include/sqlite3.h",
+    ]),
+    includes = ["include"],
+    linkopts = [
+        "-L" + LIBDIR,
+        "-Wl,-rpath," + LIBDIR,
+        "-lsqlite3",
+    ],
+    visibility = ["//visibility:public"],
+)
diff --git a/workspace/sqlite3/repository.bzl b/workspace/sqlite3/repository.bzl
new file mode 100644
index 0000000..df0836f
--- /dev/null
+++ b/workspace/sqlite3/repository.bzl
@@ -0,0 +1,30 @@
+load("@gz//bazel/workspace:os.bzl", "determine_os")
+
+def _impl(repository_ctx):
+    os_result = determine_os(repository_ctx)
+
+    if os_result.error != None:
+        fail(os_result.error)
+
+    if os_result.is_ubuntu:
+        libdir = "/usr/lib/x86_64-linux-gnu"
+        repository_ctx.symlink("/usr/include/sqlite3.h", "include/sqlite3.h")
+
+    # Declare the libdir
+    repository_ctx.file(
+        "vars.bzl",
+        content = "LIBDIR = \"{}\"\n".format(libdir),
+        executable = False,
+    )
+
+    # Add the BUILD file.
+    repository_ctx.symlink(
+        Label("@gz//bazel/workspace/sqlite3:package.BUILD.bazel"),
+        "BUILD.bazel",
+    )
+
+sqlite3_repository = repository_rule(
+    local = True,
+    configure = True,
+    implementation = _impl,
+)
diff --git a/workspace/tinyxml2/BUILD.bazel b/workspace/tinyxml2/BUILD.bazel
index e69de29..1f52546 100644
--- a/workspace/tinyxml2/BUILD.bazel
+++ b/workspace/tinyxml2/BUILD.bazel
@@ -0,0 +1,3 @@
+load("@gz//bazel/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()
diff --git a/workspace/zmq/BUILD.bazel b/workspace/zmq/BUILD.bazel
new file mode 100644
index 0000000..1f52546
--- /dev/null
+++ b/workspace/zmq/BUILD.bazel
@@ -0,0 +1,3 @@
+load("@gz//bazel/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()
diff --git a/workspace/zmq/package.BUILD.bazel b/workspace/zmq/package.BUILD.bazel
new file mode 100644
index 0000000..3c01518
--- /dev/null
+++ b/workspace/zmq/package.BUILD.bazel
@@ -0,0 +1,17 @@
+# -*- python -*-
+
+load(":vars.bzl", "LIBDIR")
+
+cc_library(
+    name = "zmq",
+    hdrs = glob([
+        "include/zmq.h",
+    ]),
+    includes = ["include"],
+    linkopts = [
+        "-L" + LIBDIR,
+        "-Wl,-rpath," + LIBDIR,
+        "-lzmq",
+    ],
+    visibility = ["//visibility:public"],
+)
diff --git a/workspace/zmq/repository.bzl b/workspace/zmq/repository.bzl
new file mode 100644
index 0000000..2568cdf
--- /dev/null
+++ b/workspace/zmq/repository.bzl
@@ -0,0 +1,31 @@
+load("@gz//bazel/workspace:os.bzl", "determine_os")
+
+def _impl(repository_ctx):
+    os_result = determine_os(repository_ctx)
+
+    if os_result.error != None:
+        fail(os_result.error)
+
+    if os_result.is_ubuntu:
+        libdir = "/usr/lib/x86_64-linux-gnu"
+        repository_ctx.symlink("/usr/include/zmq.h", "include/zmq.h")
+        repository_ctx.symlink("/usr/include/zmq_utils.h", "include/zmq_utils.h")  # noqa
+
+    # Declare the libdir
+    repository_ctx.file(
+        "vars.bzl",
+        content = "LIBDIR = \"{}\"\n".format(libdir),
+        executable = False,
+    )
+
+    # Add the BUILD file.
+    repository_ctx.symlink(
+        Label("@gz//bazel/workspace/zmq:package.BUILD.bazel"),
+        "BUILD.bazel",
+    )
+
+zmq_repository = repository_rule(
+    local = True,
+    configure = True,
+    implementation = _impl,
+)