diff --git a/README.md b/README.md
index 1dfb410d..54c58e4c 100644
--- a/README.md
+++ b/README.md
@@ -35,20 +35,21 @@ Full documentation available [here](https://lbr-stack.readthedocs.io/en/latest).
 2. Create a workspace, clone, and install dependencies
 
     ```shell
+    export FRI_CLIENT_VERSION=1.15
     mkdir -p lbr-stack/src && cd lbr-stack
-    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos.yaml
+    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/fri-${FRI_CLIENT_VERSION}.repos
     rosdep install --from-paths src -i -r -y
     ```
 
+> [!NOTE]
+> FRI client is cloned from [fri](https://github.com/lbr-stack/fri) and must be available as branch, refer [README](https://github.com/lbr-stack/fri?tab=readme-ov-file#contributing).
+
 3. Build
 
     ```shell
-    colcon build --symlink-install --cmake-args -DFRI_CLIENT_VERSION=1.15 --no-warn-unused-cli # replace by your FRI client version
+    colcon build --symlink-install
     ```
 
-> [!NOTE]
-> FRI client is added as external CMake project via [fri_vendor](https://github.com/lbr-stack/fri_vendor) and must be available as branch, refer [README](https://github.com/lbr-stack/fri?tab=readme-ov-file#contributing).
-
 4. Launch the simulation via
 
     ```shell
diff --git a/lbr_fri_ros2_stack/fri-1.14.repos b/lbr_fri_ros2_stack/fri-1.14.repos
new file mode 100644
index 00000000..8159c087
--- /dev/null
+++ b/lbr_fri_ros2_stack/fri-1.14.repos
@@ -0,0 +1,13 @@
+repositories:
+  fri:
+    type: git
+    url: https://github.com/lbr-stack/fri
+    version: fri-1.14
+  lbr_fri_msgs:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_msgs
+    version: fri-1
+  lbr_fri_ros2_stack:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_ros2_stack
+    version: humble
diff --git a/lbr_fri_ros2_stack/fri-1.15.repos b/lbr_fri_ros2_stack/fri-1.15.repos
new file mode 100644
index 00000000..b869a547
--- /dev/null
+++ b/lbr_fri_ros2_stack/fri-1.15.repos
@@ -0,0 +1,13 @@
+repositories:
+  fri:
+    type: git
+    url: https://github.com/lbr-stack/fri
+    version: fri-1.15
+  lbr_fri_msgs:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_msgs
+    version: fri-1
+  lbr_fri_ros2_stack:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_ros2_stack
+    version: humble
diff --git a/lbr_fri_ros2_stack/fri-1.16.repos b/lbr_fri_ros2_stack/fri-1.16.repos
new file mode 100644
index 00000000..55de8589
--- /dev/null
+++ b/lbr_fri_ros2_stack/fri-1.16.repos
@@ -0,0 +1,13 @@
+repositories:
+  fri:
+    type: git
+    url: https://github.com/lbr-stack/fri
+    version: fri-1.16
+  lbr_fri_msgs:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_msgs
+    version: fri-1
+  lbr_fri_ros2_stack:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_ros2_stack
+    version: humble
diff --git a/lbr_fri_ros2_stack/fri-2.5.repos b/lbr_fri_ros2_stack/fri-2.5.repos
new file mode 100644
index 00000000..0ab38f23
--- /dev/null
+++ b/lbr_fri_ros2_stack/fri-2.5.repos
@@ -0,0 +1,13 @@
+repositories:
+  fri:
+    type: git
+    url: https://github.com/lbr-stack/fri
+    version: fri-2.5
+  lbr_fri_msgs:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_msgs
+    version: fri-2
+  lbr_fri_ros2_stack:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_ros2_stack
+    version: humble
diff --git a/lbr_fri_ros2_stack/repos.yaml b/lbr_fri_ros2_stack/repos.yaml
deleted file mode 100644
index 5be7a84a..00000000
--- a/lbr_fri_ros2_stack/repos.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-repositories:
-  fri_vendor:
-    type: git
-    url: https://github.com/lbr-stack/fri_vendor
-    version: ros2
-  lbr_fri_ros2_stack:
-    type: git
-    url: https://github.com/lbr-stack/lbr_fri_ros2_stack
-    version: humble