diff --git a/rbs.repos b/rbs.repos
index ebb7409..379d37e 100644
--- a/rbs.repos
+++ b/rbs.repos
@@ -7,10 +7,6 @@ repositories:
     type: git
     url: https://github.com/solid-sinusoid/ur_moveit_config.git
     version: dev
-  gz_ros2_control:
-    type: git
-    url: https://github.com/solid-sinusoid/gz_ros2_control.git
-    version: humble-fix
   behavior_tree:
     type: git
     url: https://github.com/solid-sinusoid/behavior_tree.git
diff --git a/rbs_skill_servers/package.xml b/rbs_skill_servers/package.xml
index d69f792..683eb36 100644
--- a/rbs_skill_servers/package.xml
+++ b/rbs_skill_servers/package.xml
@@ -8,7 +8,7 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-
+  <exec_depend>ign_ros2_control</exec_depend>
   <depend>rclcpp</depend>
   <depend>moveit_core</depend>
   <depend>moveit_ros_planning</depend>