diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 881b10ba41..119b2098cd 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -28,13 +28,20 @@ jobs:
     with:
       repos: ros-desktop-full
       depends: ros-desktop
+  ros-manipulation:
+    if: success() || failure() # can get cancelled
+    needs: ros-desktop-full
+    uses: ./.github/workflows/debs-from-repos.yaml
+    with:
+      repos: ros-manipulation
+      depends: ros-desktop-full
   universe-0:
     if: success() || failure() # can get cancelled
     needs: ros-desktop-full
     uses: ./.github/workflows/debs-from-repos.yaml
     with:
       repos: universe-0
-      depends: ros-desktop-full
+      depends: ros-manipulation
   universe-1:
     if: success() || failure() # can get cancelled
     needs: universe-0
diff --git a/ros-manipulation.repos b/ros-manipulation.repos
new file mode 100644
index 0000000000..9659744a86
--- /dev/null
+++ b/ros-manipulation.repos
@@ -0,0 +1,109 @@
+repositories:
+  bio_ik:
+    type: git
+    url: https://github.com/TAMS-Group/bio_ik.git
+    version: master
+  eigenpy:
+    type: git
+    url: https://github.com/stack-of-tasks/eigenpy
+    version: master
+  geometric_shapes:
+    type: git
+    url: https://github.com/ros-planning/geometric_shapes.git
+    version: noetic-devel
+  moveit:
+    type: git
+    url: https://github.com/ros-planning/moveit
+    version: master
+  moveit_by_name:
+    type: git
+    url: https://github.com/TAMS-Group/moveit_by_name
+    version: main
+  moveit_monitoring:
+    type: git
+    url: https://github.com/v4hn/moveit_monitoring
+    version: main
+  moveit_msgs:
+    type: git
+    url: https://github.com/ros-planning/moveit_msgs.git
+    version: master
+  moveit_python:
+    type: git
+    url: https://github.com/mikeferguson/moveit_python.git
+    version: ros1
+  moveit_resources:
+    type: git
+    url: https://github.com/ros-planning/moveit_resources.git
+    version: master
+  moveit_tutorials:
+    type: git
+    url: https://github.com/ros-planning/moveit_tutorials.git
+    version: master
+  moveit_visual_tools:
+    type: git
+    url: https://github.com/ros-planning/moveit_visual_tools.git
+    version: master
+  moveit_task_constructor:
+    type: git
+    url: https://github.com/v4hn/moveit_task_constructor
+    version: master
+  mtc_pour:
+    type: git
+    url: https://github.com/TAMS-Group/mtc_pour
+    version: master
+  object_recognition_msgs:
+    type: git
+    url: https://github.com/wg-perception/object_recognition_msgs.git
+    version: noetic-devel
+  octomap_msgs:
+    type: git
+    url: https://github.com/OctoMap/octomap_msgs.git
+    version: melodic-devel
+  ompl:
+    type: git
+    url: https://github.com/ompl/ompl
+    version: main
+  panda_moveit_config:
+    type: git
+    url: https://github.com/ros-planning/panda_moveit_config.git
+    version: noetic-devel
+  pybind11_catkin:
+    type: git
+    url: https://github.com/ipab-slmc/pybind11_catkin
+    version: master
+  random_numbers:
+    type: git
+    url: https://github.com/ros-planning/random_numbers
+    version: master
+  ros_industrial/industrial_core:
+    type: git
+    url: https://github.com/ros-o/industrial_core
+    version: obese-devel
+  ros_industrial/moveit_opw_kinematics_plugin:
+    type: git
+    url: https://github.com/JeroenDM/moveit_opw_kinematics_plugin
+    version: noetic-devel
+  ros_industrial/opw_kinematics:
+    type: git
+    url: https://github.com/Jmeyer1292/opw_kinematics
+    version: master
+  ros_industrial/ros_industrial_cmake_boilerplate:
+    type: git
+    url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate
+    version: master
+  ruckig:
+    type: git
+    url: https://github.com/pantor/ruckig
+    version: main
+  srdfdom:
+    type: git
+    url: https://github.com/ros-planning/srdfdom
+    version: noetic-devel
+  warehouse_ros:
+    type: git
+    url: https://github.com/ros-planning/warehouse_ros
+    version: kinetic-devel
+  warehouse_ros_sqlite:
+    type: git
+    url: https://github.com/ros-planning/warehouse_ros_sqlite
+    version: master
diff --git a/universe-1.repos b/universe-1.repos
index 078329da7b..e8f4215c34 100644
--- a/universe-1.repos
+++ b/universe-1.repos
@@ -3,10 +3,6 @@ repositories:
     type: git
     url: https://github.com/ros-o/openni_camera.git
     version: obese-devel
-  octomap_msgs:
-    type: git
-    url: https://github.com/OctoMap/octomap_msgs.git
-    version: melodic-devel
   camera_info_manager_py:
     type: git
     url: https://github.com/ros-o/camera_info_manager_py
@@ -59,10 +55,6 @@ repositories:
     type: git
     url: https://github.com/mikeferguson/robot_calibration
     version: ros1
-  object_recognition_msgs:
-    type: git
-    url: https://github.com/wg-perception/object_recognition_msgs.git
-    version: noetic-devel
   laser_filtering:
     type: git
     url: https://github.com/DLu/laser_filtering.git