diff --git a/README.md b/README.md
index 65b9c1e2..eea1b818 100644
--- a/README.md
+++ b/README.md
@@ -19,6 +19,7 @@ Humble | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/
 Rolling | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
 Rolling | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
 Rolling | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Rolling | Harmonic (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
 
 ## Build status
 
diff --git a/gz_ros2_control/package.xml b/gz_ros2_control/package.xml
index 6a97719a..6344c7bb 100644
--- a/gz_ros2_control/package.xml
+++ b/gz_ros2_control/package.xml
@@ -15,10 +15,12 @@
   <depend condition="$GZ_VERSION == ''">ignition-gazebo6</depend>
   <depend condition="$GZ_VERSION == fortress">ignition-gazebo6</depend>
   <depend condition="$GZ_VERSION == garden">gz-sim7</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-sim8</depend>
 
   <depend condition="$GZ_VERSION == ''">ignition-plugin</depend>
   <depend condition="$GZ_VERSION == fortress">ignition-plugin</depend>
   <depend condition="$GZ_VERSION == garden">gz-plugin2</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-plugin2</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>yaml_cpp_vendor</depend>
diff --git a/gz_ros2_control_demos/package.xml b/gz_ros2_control_demos/package.xml
index 45565b05..51ef09fb 100644
--- a/gz_ros2_control_demos/package.xml
+++ b/gz_ros2_control_demos/package.xml
@@ -37,6 +37,7 @@
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend condition="$GZ_VERSION == ''">ros_gz_sim</exec_depend>
+  <exec_depend condition="$GZ_VERSION == 'harmonic'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'garden'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'fortress'">ros_ign_gazebo</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>
diff --git a/gz_ros2_control_tests/package.xml b/gz_ros2_control_tests/package.xml
index 67add5ff..870ceef6 100644
--- a/gz_ros2_control_tests/package.xml
+++ b/gz_ros2_control_tests/package.xml
@@ -29,6 +29,7 @@
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend condition="$GZ_VERSION == ''">ros_gz_sim</exec_depend>
+  <exec_depend condition="$GZ_VERSION == 'harmonic'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'garden'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'fortress'">ros_ign_gazebo</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>