diff --git a/README.md b/README.md
index e77af39..fbb52d2 100644
--- a/README.md
+++ b/README.md
@@ -7,6 +7,8 @@ This repository contains a UPF TSB for ROS 2
 
 ```
 $ pip install --pre unified-planning[pyperplan,tamer]
+$ pip install ConfigSpace
+$ pip install typing_extensions==4.7.1 --upgrade
 $ cd <upf_workspace>
 $ cd src
 $ git clone https://github.com/PlanSys2/UPF4ROS2.git
diff --git a/upf.repos b/upf.repos
index 034530c..c12faf5 100644
--- a/upf.repos
+++ b/upf.repos
@@ -6,8 +6,16 @@ repositories:
   up-tamer:
     type: git
     url: https://github.com/aiplan4eu/up-tamer.git
-    version: 869e7ab06cf23c5541a47f46209159fd51d8021f
+    version: main
   up-pyperplan:
     type: git
     url: https://github.com/aiplan4eu/up-pyperplan.git
-    version: ac2b04d2d41c20b15f7c4143c19947f9704d1888
+    version: main
+  ros2_planning_system:
+    type: git
+    url: https://github.com/PlanSys2/ros2_planning_system.git
+    version: humble-devel
+  cascade_lifecycle:
+    type: git
+    url: https://github.com/fmrico/cascade_lifecycle.git
+    version: humble-devel