diff --git a/kortex_bringup/package.xml b/kortex_bringup/package.xml
index 1b8e6738..5c1ab247 100644
--- a/kortex_bringup/package.xml
+++ b/kortex_bringup/package.xml
@@ -22,7 +22,8 @@
   <exec_depend>rviz2</exec_depend>
   <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <exec_depend>gazebo_ros2_control</exec_depend>
+  <exec_depend condition="$ROS_DISTRO == humble">ign_ros2_control</exec_depend>
+  <exec_depend condition="$ROS_DISTRO != humble">gz_ros2_control</exec_depend>
   <exec_depend>gripper_controllers</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>