diff --git a/lunar/distribution.yaml b/lunar/distribution.yaml
index c63c02c503410..2b522383b4e15 100644
--- a/lunar/distribution.yaml
+++ b/lunar/distribution.yaml
@@ -3806,6 +3806,26 @@ repositories:
       url: https://github.com/pr2-gbp/pr2_power_drivers-release.git
       version: 1.1.7-0
     status: unmaintained
+  pr2_simulator:
+    doc:
+      type: git
+      url: https://github.com/PR2/pr2_simulator.git
+      version: kinetic-devel
+    release:
+      packages:
+      - pr2_controller_configuration_gazebo
+      - pr2_gazebo
+      - pr2_gazebo_plugins
+      - pr2_simulator
+      tags:
+        release: release/lunar/{package}/{version}
+      url: https://github.com/pr2-gbp/pr2_simulator-release.git
+      version: 2.0.13-1
+    source:
+      type: git
+      url: https://github.com/PR2/pr2_simulator.git
+      version: kinetic-devel
+    status: unmaintained
   pyros_config:
     release:
       tags: