diff --git a/rosinstalls/helena.rosinstall b/rosinstalls/helena.rosinstall
index 454c2f23393a3b1bb6d64c0138ce80a2551020e9..6a389d558e7a5fa181c1ab97dc056d063d1acc37 100644
--- a/rosinstalls/helena.rosinstall
+++ b/rosinstalls/helena.rosinstall
@@ -52,15 +52,30 @@
 - git:
     local-name: sensors/ranger3d/iri_robosense_lidar_bringup
     uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger3d/iri_robosense_lidar_bringup.git
+- git:
+    local-name: sensors/ranger3d/iri_velodyne_gazebo
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger3d/iri_velodyne_gazebo.git
 - git:
     local-name: sensors/depth_cameras/iri_realsense_depth_description
     uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/depth/iri_realsense_depth_description.git
 - git:
     local-name: sensors/depth_cameras/iri_depth_camera_gazebo
     uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/depth/iri_depth_camera_gazebo.git
+- git:
+    local-name: sensors/imu/iri_bno055_imu_description
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/imu/iri_bno055_imu_description.git
+- git:
+    local-name: sensors/imu/iri_bno055_imu_bringup
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/imu/iri_bno055_imu_bringup.git
+- git:
+    local-name: sensors/imu/iri_imu_gazebo
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/imu/iri_imu_gazebo.git
 ##################################
 ###external
 - git:
     local-name: external/realsense-ros
     uri: https://github.com/IntelRealSense/realsense-ros.git
+- git:
+    local-name: external/rosaria
+    uri: https://github.com/amor-ros-pkg/rosaria.git
 ##################################