diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index 9f48afc6..d1dad5bb 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -2,18 +2,18 @@ binutils-dev
 libgflags-dev
 libgz-cmake3-dev
 libgz-common5-dev
-libgz-fuel-tools8-dev
+libgz-fuel-tools9-dev
 libgz-sim8-dev
 libgz-gui8-dev
 libgz-math7-dev
 libgz-math7-eigen3-dev
-libgz-msgs9-dev
+libgz-msgs10-dev
 libgz-physics6-dev
 libgz-plugin2-dev
 libgz-rendering8-dev
 libgz-sensors8-dev
 libgz-tools2-dev
-libgz-transport12-dev
+libgz-transport13-dev
 libsdformat13-dev
 libtinyxml2-dev
 libwebsockets-dev
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5b378197..f12380ee 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,13 +61,13 @@ set(GZ_TOOLS_VER 2)
 
 #--------------------------------------
 # Find gz-transport
-gz_find_package(gz-transport12 REQUIRED)
-set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
+gz_find_package(gz-transport13 REQUIRED)
+set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-msgs
-gz_find_package(gz-msgs9 REQUIRED)
-set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
+gz_find_package(gz-msgs10 REQUIRED)
+set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-math
diff --git a/plugins/websocket_server/WebsocketServer.cc b/plugins/websocket_server/WebsocketServer.cc
index ad67376e..a5ed5120 100644
--- a/plugins/websocket_server/WebsocketServer.cc
+++ b/plugins/websocket_server/WebsocketServer.cc
@@ -793,7 +793,8 @@ void WebsocketServer::OnMessage(int _socketId, const std::string _msg)
     for (const std::string &topic : topics)
     {
       std::vector<transport::MessagePublisher> publishers;
-      this->node.TopicInfo(topic, publishers);
+      std::vector<transport::MessagePublisher> subscribers;
+      this->node.TopicInfo(topic, publishers, subscribers);
       for (const transport::MessagePublisher &publisher : publishers)
       {
         msgs::Publish *pubMsg = msg.add_publisher();
@@ -925,7 +926,8 @@ void WebsocketServer::OnMessage(int _socketId, const std::string _msg)
     for (auto queryTopic: allTopics)
     {
       std::vector<transport::MessagePublisher> publishers;
-      this->node.TopicInfo(queryTopic, publishers);
+      std::vector<transport::MessagePublisher> subscribers;
+      this->node.TopicInfo(queryTopic, publishers, subscribers);
       for (auto pub: publishers)
       {
         if (pub.MsgTypeName() == "gz.msgs.Image")
@@ -1205,7 +1207,8 @@ bool WebsocketServer::UpdateMsgTypeSubscriptionCount(const std::string &_topic,
   // check if limit reached for the subscribed msg type
   // if not, update subscription count
   std::vector<transport::MessagePublisher> publishers;
-  this->node.TopicInfo(_topic, publishers);
+  std::vector<transport::MessagePublisher> subscribers;
+  this->node.TopicInfo(_topic, publishers, subscribers);
   if (!publishers.empty())
   {
     std::string msgType = publishers.begin()->MsgTypeName();