diff --git a/rosdep/python.yaml b/rosdep/python.yaml
index 4a6ba4d416f47..e949da48361c0 100644
--- a/rosdep/python.yaml
+++ b/rosdep/python.yaml
@@ -9505,6 +9505,19 @@ python3-typeguard-pip:
   ubuntu:
     pip:
       packages: [typeguard]
+python3-types-pyyaml:
+  debian: [python3-typeshed]
+  fedora: [python3-types-pyyaml]
+  rhel:
+    '*': [python3-types-pyyaml]
+    '8':
+      pip:
+        packages: [types-pyyaml]
+  ubuntu:
+    '*': [python3-typeshed]
+    focal:
+      pip:
+        packages: [types-pyyaml]
 python3-typing-extensions:
   arch: [python-typing_extensions]
   debian: [python3-typing-extensions]