diff --git a/panda_moveit_config/package.xml b/panda_moveit_config/package.xml
index b67558f4..6b84758f 100644
--- a/panda_moveit_config/package.xml
+++ b/panda_moveit_config/package.xml
@@ -21,7 +21,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>gz_ros2_control</exec_depend>
+  <exec_depend>ign_ros2_control</exec_depend>
   <exec_depend>moveit_resources_panda_description</exec_depend>
   <!-- disabled to remove circular dependencies
   <exec_depend>moveit_ros_move_group</exec_depend>
@@ -33,6 +33,8 @@
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>ros_ign_gazebo</exec_depend>
+  <exec_depend>ros2controlcli</exec_depend>
   <exec_depend>xacro</exec_depend>
   <!-- TODO(#40): Package not available in ROS 2, find equivalent when migrating launch files
   <exec_depend>topic_tools</exec_depend>