diff --git a/README.md b/README.md
index 2c82fa2..743eff5 100644
--- a/README.md
+++ b/README.md
@@ -9,6 +9,8 @@ This is still a work in progress, therefore the repository is unstable.
 
 This package was tested with ROS 2 Humble and TypeDB 2.27.0
 
+**Note for Ubuntu 22.04 (Jammy) users:** If you're using ROS 2 Rolling on Ubuntu 22.04, please see the special rosdep setup instructions below to resolve missing dependency definitions.
+
 ## Installing
 
 [Install ROS 2 Humble](https://docs.ros.org/en/humble/Installation.html)
@@ -39,6 +41,13 @@ Install dependencies:
 ```Bash
 cd ~/rosa_ws/
 source /opt/ros/humble/setup.bash
+
+# For Ubuntu 22.04 (Jammy) with ROS 2 Rolling, setup custom rosdep dependencies first:
+./src/rosa/setup_rosdep.sh
+
+# Optional: Validate that the rosdep setup worked correctly
+./src/rosa/validate_rosdep.sh
+
 rosdep install --from-paths src --ignore-src -r -y
 ```
 
@@ -49,6 +58,26 @@ source /opt/ros/humble/setup.bash
 colcon build --symlink-install
 ```
 
+### Troubleshooting Ubuntu 22.04 (Jammy) with ROS 2 Rolling
+
+If you encounter rosdep errors about missing definitions for packages like `behaviortree_cpp`, `popf`, `launch_pytest`, `rclcpp_cascade_lifecycle`, or `tf_transformations`, you can manually add the custom rosdep source:
+
+```Bash
+# Create rosdep sources directory
+mkdir -p ~/.ros/rosdep/sources.list.d/
+
+# Add ROSA custom rosdep definitions
+echo "yaml file://$(pwd)/src/rosa/rosdep.yaml" > ~/.ros/rosdep/sources.list.d/50-rosa.list
+
+# Update rosdep database
+rosdep update
+
+# Now retry the rosdep install
+rosdep install --from-paths src --ignore-src -r -y
+```
+
+**Note:** The `rosdep.yaml` file in this repository provides custom definitions for packages that are not available in the standard rosdep database for Ubuntu 22.04 (Jammy). Some dependencies like `ros_typedb` and `ros_typedb_msgs` are built from source as specified in `rosa.repos`, so they don't require system packages.
+
 ## Running
 
 Start typedb:
diff --git a/rosdep.yaml b/rosdep.yaml
new file mode 100644
index 0000000..3c1332d
--- /dev/null
+++ b/rosdep.yaml
@@ -0,0 +1,39 @@
+# Custom rosdep definitions for ROSA dependencies on Ubuntu 22.04 (Jammy)
+# This file provides missing rosdep keys for dependencies not available in the standard rosdep database
+
+behaviortree_cpp:
+  ubuntu:
+    jammy: [ros-rolling-behaviortree-cpp]
+    # Alternative for other distributions if needed
+    # focal: [ros-foxy-behaviortree-cpp]
+  
+rclcpp_cascade_lifecycle:
+  ubuntu:
+    jammy: [ros-rolling-rclcpp-cascade-lifecycle]
+
+launch_pytest:
+  ubuntu:
+    jammy: [ros-rolling-launch-pytest]
+
+tf_transformations:
+  ubuntu:
+    jammy: [python3-tf-transformations]
+    # This package is generally available across Ubuntu versions
+
+popf:
+  ubuntu:
+    jammy: [ros-rolling-popf]
+
+# External dependencies from kas-lab organization
+# These packages need to be built from source as specified in rosa.repos
+ros_pytest:
+  ubuntu:
+    jammy: [python3-pytest]
+
+ros_typedb:
+  ubuntu:
+    jammy: []  # Built from source, no system dependency
+
+ros_typedb_msgs:
+  ubuntu: 
+    jammy: []  # Built from source, no system dependency
\ No newline at end of file
diff --git a/setup_rosdep.sh b/setup_rosdep.sh
new file mode 100755
index 0000000..abeeea9
--- /dev/null
+++ b/setup_rosdep.sh
@@ -0,0 +1,53 @@
+#!/bin/bash
+
+# Setup script for ROSA rosdep dependencies on Ubuntu 22.04 (Jammy) with ROS 2 Rolling
+# This script adds the custom rosdep.yaml file to the rosdep sources list
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ROSDEP_FILE="$SCRIPT_DIR/rosdep.yaml"
+ROSDEP_SOURCE_FILE="$HOME/.ros/rosdep/sources.list.d/50-rosa.list"
+
+echo "Setting up ROSA rosdep dependencies for Ubuntu 22.04 (Jammy)..."
+
+# Check if rosdep.yaml exists
+if [ ! -f "$ROSDEP_FILE" ]; then
+    echo "Error: rosdep.yaml not found at $ROSDEP_FILE"
+    exit 1
+fi
+
+# Check if rosdep is installed
+if ! command -v rosdep &> /dev/null; then
+    echo "Error: rosdep is not installed. Please install it with:"
+    echo "  sudo apt update && sudo apt install python3-rosdep"
+    exit 1
+fi
+
+# Create rosdep sources directory if it doesn't exist
+mkdir -p ~/.ros/rosdep/sources.list.d/
+
+# Add the custom rosdep source
+echo "yaml file://$ROSDEP_FILE" > "$ROSDEP_SOURCE_FILE"
+
+echo "✓ Added ROSA rosdep source to $ROSDEP_SOURCE_FILE"
+
+# Initialize rosdep if not already done (ignore errors if already initialized)
+echo "Initializing rosdep (if needed)..."
+rosdep init 2>/dev/null || echo "rosdep already initialized"
+
+# Update rosdep database
+echo "Updating rosdep database..."
+if rosdep update; then
+    echo "✓ rosdep database updated successfully"
+else
+    echo "⚠ Warning: rosdep update encountered issues, but continuing..."
+fi
+
+echo ""
+echo "🎉 ROSA rosdep setup complete!"
+echo ""
+echo "You can now run:"
+echo "  rosdep install --from-paths src --ignore-src -r -y"
+echo ""
+echo "If you encounter any issues, check the troubleshooting section in README.md"
\ No newline at end of file
diff --git a/validate_rosdep.sh b/validate_rosdep.sh
new file mode 100755
index 0000000..c3bd7f8
--- /dev/null
+++ b/validate_rosdep.sh
@@ -0,0 +1,42 @@
+#!/bin/bash
+
+# Validation script to check if ROSA rosdep dependencies are properly configured
+# This helps users verify that the rosdep setup worked correctly
+
+echo "Validating ROSA rosdep configuration..."
+
+# Check if rosdep sources file exists
+ROSDEP_SOURCE_FILE="$HOME/.ros/rosdep/sources.list.d/50-rosa.list"
+if [ ! -f "$ROSDEP_SOURCE_FILE" ]; then
+    echo "✗ ROSA rosdep source file not found at $ROSDEP_SOURCE_FILE"
+    echo "  Please run ./setup_rosdep.sh first"
+    exit 1
+fi
+
+echo "✓ ROSA rosdep source file found"
+
+# Test key dependencies to see if rosdep can resolve them
+TEST_DEPS=("behaviortree_cpp" "popf" "launch_pytest" "rclcpp_cascade_lifecycle" "tf_transformations")
+FAILED_DEPS=()
+
+echo "Testing dependency resolution..."
+
+for dep in "${TEST_DEPS[@]}"; do
+    if rosdep resolve "$dep" >/dev/null 2>&1; then
+        echo "  ✓ $dep - resolved"
+    else
+        echo "  ✗ $dep - failed to resolve"
+        FAILED_DEPS+=("$dep")
+    fi
+done
+
+if [ ${#FAILED_DEPS[@]} -eq 0 ]; then
+    echo ""
+    echo "🎉 All ROSA dependencies are properly configured!"
+    echo "You can now run: rosdep install --from-paths src --ignore-src -r -y"
+else
+    echo ""
+    echo "⚠ Some dependencies failed to resolve: ${FAILED_DEPS[*]}"
+    echo "This might be normal if you're not on Ubuntu 22.04 (Jammy) with ROS 2 Rolling"
+    echo "Try running: rosdep update"
+fi
\ No newline at end of file