diff --git a/humble/distribution.yaml b/humble/distribution.yaml
index 4359a206c70f9..3c03ca2d855d0 100644
--- a/humble/distribution.yaml
+++ b/humble/distribution.yaml
@@ -3796,7 +3796,7 @@ repositories:
     doc:
       type: git
       url: https://github.com/justagist/kinematics_interface_pinocchio.git
-      version: main
+      version: ros-humble
     release:
       tags:
         release: release/humble/{package}/{version}
@@ -3805,7 +3805,7 @@ repositories:
     source:
       type: git
       url: https://github.com/justagist/kinematics_interface_pinocchio.git
-      version: main
+      version: ros-humble
     status: maintained
   kobuki_core:
     doc:
diff --git a/jazzy/distribution.yaml b/jazzy/distribution.yaml
index f05994c06834b..a4fb59ebaefa4 100644
--- a/jazzy/distribution.yaml
+++ b/jazzy/distribution.yaml
@@ -3249,7 +3249,7 @@ repositories:
     doc:
       type: git
       url: https://github.com/justagist/kinematics_interface_pinocchio.git
-      version: main
+      version: ros-jazzy
     release:
       tags:
         release: release/jazzy/{package}/{version}
@@ -3258,7 +3258,7 @@ repositories:
     source:
       type: git
       url: https://github.com/justagist/kinematics_interface_pinocchio.git
-      version: main
+      version: ros-jazzy
     status: maintained
   kobuki_core:
     doc:
diff --git a/rolling/distribution.yaml b/rolling/distribution.yaml
index 1eaa4f5616d26..bc6da4b67f16e 100644
--- a/rolling/distribution.yaml
+++ b/rolling/distribution.yaml
@@ -2897,7 +2897,7 @@ repositories:
     doc:
       type: git
       url: https://github.com/justagist/kinematics_interface_pinocchio.git
-      version: main
+      version: ros-rolling
     release:
       tags:
         release: release/rolling/{package}/{version}
@@ -2906,7 +2906,7 @@ repositories:
     source:
       type: git
       url: https://github.com/justagist/kinematics_interface_pinocchio.git
-      version: main
+      version: ros-rolling
     status: maintained
   kobuki_core:
     doc: