diff --git a/rosdep.yaml b/rosdep.yaml
index cbcb7977..46aef6eb 100644
--- a/rosdep.yaml
+++ b/rosdep.yaml
@@ -4,6 +4,7 @@ ruby:
   arch: ruby
   macports: |
   gentoo: ruby
+  freebsd: ruby
 apr:
   ubuntu: libapr1-dev libaprutil1-dev
   debian: libapr1-dev libaprutil1-dev
@@ -13,6 +14,7 @@ apr:
   macports: apr apr-util
   gentoo: dev-libs/apr dev-libs/apr-util
   cygwin: libapr1 libaprutil1
+  freebsd: apr-ipv6-gdbm-db42
 python:
   ubuntu: python-dev
   debian: python-dev
@@ -22,6 +24,7 @@ python:
   macports: python25 python_select
   gentoo: python
   cygwin: python
+  freebsd: python
 python-yaml:
   ubuntu: python-yaml
   debian: python-yaml
@@ -41,6 +44,7 @@ python-yaml:
         cd PyYAML-3.09
         python setup.py install 
       fi
+  freebsd: py26-yaml
 python-gtk2:
   ubuntu: python-gtk2
   arch: pygtk
@@ -49,6 +53,7 @@ python-gtk2:
   fedora: python-gtk
   rhel: pygtk2
   gentoo: "=dev-python/pygtk-2.*"
+  freebsd: py-gtk2
 python-matplotlib:
   ubuntu: python-matplotlib
   arch: python-matplotlib
@@ -57,6 +62,7 @@ python-matplotlib:
   fedora: python-matplotlib
   rhel: python-matplotlib
   gentoo: dev-python/matplotlib
+  freebsd: py26-matplotlib
 python-imaging:
   ubuntu: python-imaging
   debian: python-imaging
@@ -65,6 +71,7 @@ python-imaging:
   arch: pil
   macports: py25-pil
   gentoo: dev-python/imaging
+  freebsd: py26-imaging
 python-numpy:
   ubuntu: python-numpy
   debian: python-numpy
@@ -73,16 +80,19 @@ python-numpy:
   arch: python-numpy
   macports: py25-numpy
   gentoo: dev-python/numpy
+  freebsd: py-numpy
 python-fuse:
   ubuntu: python-fuse
   debian: python-fuse
   gentoo: dev-python/fuse-python
+  freebsd: py26-fusefs
 python-scipy:
   ubuntu: python-scipy
   debian: python-scipy
   arch: python-scipy
   macports: py25-scipy
   gentoo: dev-libs/scipy
+  freebsd: py-scipy
 bzip2:
   ubuntu: libbz2-dev
   debian: libbz2-dev
@@ -92,6 +102,7 @@ bzip2:
   macports: bzip2
   gentoo: app-arch/bzip2
   cygwin: bzip2
+  freebsd: bzip2
 boost:
   ubuntu:
     '10.04': libboost1.40-all-dev
@@ -149,6 +160,8 @@ boost:
   macports: boost
   gentoo: dev-libs/boost
   cygwin: libboost-devel libboost1.40
+  freebsd: boost-python-libs
+  # freebsd: boost-pyste is more complete
 zlib:
   ubuntu: zlib1g-dev
   debian: zlib1g-dev
@@ -158,6 +171,7 @@ zlib:
   macports: zlib
   gentoo: sys-libs/zlib
   cygwin: zlib
+  freebsd: builtin
 graphviz:
   ubuntu: graphviz
   debian: graphviz
@@ -166,16 +180,19 @@ graphviz:
   arch: graphviz
   macports: graphviz
   gentoo: media-gfx/graphviz
+  freebsd: graphviz
 fakeroot:
   ubuntu: fakeroot
   arch: fakeroot
   debian: fakeroot
   gentoo: sys-apps/fakeroot
+  freebsd: fakeroot
 dpkg-dev:
   ubuntu: dpkg-dev
   debian: dpkg-dev
   arch: |
     if ! pacman -Q dpkg; then yaourt -S dpkg; fi
+  freebsd: dpkg
 doxygen:
   ubuntu: doxygen
   fedora: doxygen
@@ -184,6 +201,7 @@ doxygen:
   debian: doxygen
   macports: doxygen
   gentoo: app-doc/doxygen
+  freebsd: doxygen
 wxwidgets:
   ubuntu: libwxgtk2.8-dev
   debian: libwxgtk2.8-dev
@@ -192,6 +210,7 @@ wxwidgets:
   macports: wxwidgets
   arch: wxgtk
   gentoo: x11-libs/wxGTK
+  freebsd: wxgtk2
 wxpython:
   ubuntu: python-wxgtk2.8
   arch: wxpython
@@ -201,6 +220,7 @@ wxpython:
   debian: python-wxgtk2.8
   macports: py25-wxpython
   gentoo: dev-python/wxpython
+  freebsd: py26-wxPython
 log4cxx:
   ubuntu:
     '10.04': liblog4cxx10-dev
@@ -259,6 +279,7 @@ log4cxx:
   macports: log4cxx
   gentoo: dev-libs/log4cxx
   cygwin: liblog4cxx-devel
+  freebsd: log4cxx
 libxext:
   ubuntu: libxext-dev
   debian: libxext-dev
@@ -267,6 +288,7 @@ libxext:
   macports: xorg-libXext
   arch: libxext
   gentoo: x11-libs/libXext
+  freebsd: libXext
 swig:
   ubuntu: swig
   debian: swig
@@ -275,6 +297,7 @@ swig:
   macports: swig
   arch: swig
   gentoo: dev-lang/swig
+  freebsd: swig
 zziplib:
   ubuntu: libzzip-0-13 libzzip-dev
   debian: libzzip-0-13 libzzip-dev
@@ -283,6 +306,7 @@ zziplib:
   macports: libzzip
   arch: zziplib
   gentoo: dev-libs/zziplib
+  freebsd: zziplib
 libxaw:
   ubuntu: libxaw7-dev 
   debian: libxaw7-dev 
@@ -291,6 +315,7 @@ libxaw:
   macports: xorg-libXaw
   arch: libxaw
   gentoo: x11-libs/libXaw
+  freebsd: libXaw
 opengl:
   ubuntu: libgl1-mesa-dev libglu1-mesa-dev
   debian: libgl1-mesa-dev libglu1-mesa-dev
@@ -299,6 +324,7 @@ opengl:
   macports: mesa
   arch: mesa
   gentoo: media-libs/mesa
+  freebsd: mesagl-mangled
 libxxf86vm:
   ubuntu: libxxf86vm-dev
   debian: libxxf86vm-dev
@@ -307,6 +333,7 @@ libxxf86vm:
   macports: xorg-libXxf86vm
   arch: libxxf86vm
   gentoo: x11-libs/libXxf86vm
+  freebsd: libXxf86vm
 gtk2:
   ubuntu: libgtk2.0-dev
   debian: libgtk2.0-dev
@@ -315,6 +342,7 @@ gtk2:
   macports: gtk2
   arch: gtk2
   gentoo: x11-libs/gtk+
+  freebsd: gtk20
 autoconf:
   ubuntu: autoconf
   debian: autoconf
@@ -323,6 +351,7 @@ autoconf:
   arch: autoconf
   macports: autoconf
   gentoo: sys-devel/autoconf
+  freebsd: autoconf213 autoconf262
 automake:
   ubuntu: automake
   debian: automake
@@ -331,6 +360,7 @@ automake:
   arch: automake
   macports: automake
   gentoo: sys-devel/automake
+  freebsd: automake14 automake15 automake16 automake17 automake18 automake19 automake110
 libtool:
   ubuntu: 
     '10.04': libtool libltdl-dev
@@ -344,6 +374,7 @@ libtool:
   macports: libtool
   arch: libtool
   gentoo: sys-devel/libtool
+  freebsd: libtool
 pkg-config:
   ubuntu: pkg-config
   debian: pkg-config
@@ -353,6 +384,7 @@ pkg-config:
   macports: pkgconfig
   gentoo: dev-util/pkgconfig
   cygwin: pkg-config
+  freebsd: pkg-config
 octave:
   ubuntu: octave3.0-headers
   arch: octave
@@ -360,6 +392,7 @@ octave:
   centos: octave-devel
   debian: octave3.0-headers
   gentoo: sci-mathematics/octave
+  freebsd: octave
 ncurses:
   ubuntu: libncurses5-dev
   arch: ncurses
@@ -367,45 +400,53 @@ ncurses:
   centos: ncurses-devel
   debian: libncurses5-dev
   gentoo: sys-libs/ncurses
+  freebsd: ncurses
 qt4:
   ubuntu: libqt4-core libqt4-dev qt4-dev-tools
   debian: libqt4-core libqt4-dev qt4-dev-tools 
   arch: qt
   macports: qt4-mac
   gentoo: ">=x11-libs/qt-core-4"
+  freebsd: qt4-corelib
 curl:
   ubuntu: libcurl4-openssl-dev
   debian: libcurl4-openssl-dev
   arch: curl
   macports: curl
   gentoo: net-misc/curl
+  freebsd: curl
 libxml2:
   ubuntu: libxml2-dev
   debian: libxml2-dev
   arch: libxml2
   macports: libxml2
   gentoo: dev-libs/libxml2
+  freebsd: libxml2
 scons:
   ubuntu: scons
   debian: scons
   arch: scons
   macports: scons
   gentoo: dev-util/scons
+  freebsd: scons
 java:
   ubuntu: sun-java6-jdk
   debian: sun-java6-jdk
   arch: openjdk6
   macports: |
   gentoo: dev-java/sun-jdk
+  freebsd: openjdk6
 ant:
   ubuntu: ant
   debian: ant
   arch: apache-ant
   macports: apache-ant
   gentoo: dev-java/ant
+  freebsd: apache-ant
 libstdc++5:
   ubuntu: libstdc++5
   debian: libstdc++5
+  freebsd: builtin
 cppunit:
   ubuntu: libcppunit-dev
   debian: libcppunit-dev
@@ -414,9 +455,11 @@ cppunit:
   arch: cppunit
   macports: cppunit
   gentoo: dev-util/cppunit
+  freebsd: cppunit
 intltool:
   ubuntu: intltool
   gentoo: dev-util/intltool
+  freebsd: intltool
 unzip:
   ubuntu: unzip
   debian: unzip
@@ -425,6 +468,7 @@ unzip:
   rhel: unzip
   macports: unzip
   gentoo: app-arch/unzip
+  freebsd: unzip
 fltk:
   ubuntu: libfltk1.1-dev
   debian: libfltk1.1-dev
@@ -432,10 +476,13 @@ fltk:
   arch: fltk
   macports: fltk
   gentoo: "=x11-libs/fltk-1*"
+  freebsd: fltk
 epydoc:
   ubuntu: python-epydoc
   macports: py25-epydoc
+  freebsd: epydoc
 paramiko:
   ubuntu: python-paramiko
   debian: python-paramiko
-  macports: py25-paramiko
\ No newline at end of file
+  macports: py25-paramiko
+  freebsd: py-paramiko
\ No newline at end of file