diff --git a/Dockerfile b/Dockerfile
index 5260aa0..5748bf6 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=galactic
+ARG ROS_DISTRO=humble
 FROM ros:${ROS_DISTRO}-ros-base
 
 ### Use bash by default
@@ -22,7 +22,11 @@ RUN apt-get update && \
 
 ### Install extra dependencies
 RUN apt-get update && \
-    apt-get install -yq python3-pil.imagetk
+    apt-get install -yq python3-pil.imagetk && \
+    apt-get install -yq ros-${ROS_DISTRO}-pilz-industrial-motion-planner && \
+    apt-get install -yq tmux && \
+    apt-get install -yq ros-${ROS_DISTRO}-desktop && \
+    apt-get install -yq ros-${ROS_DISTRO}-rclcpp-components
 
 ### Install AxiDraw
 RUN apt-get update && \
diff --git a/drawing_robot_ros2.repos b/drawing_robot_ros2.repos
index 768b8d9..cf072b1 100644
--- a/drawing_robot_ros2.repos
+++ b/drawing_robot_ros2.repos
@@ -1,25 +1,25 @@
 repositories:
-  pymoveit2:
-    type: git
-    url: https://github.com/AndrejOrsula/pymoveit2.git
-    version: master
-  panda_ign_moveit2:
-    type: git
-    url: https://github.com/AndrejOrsula/panda_ign_moveit2.git
-    version: master
-  ros_ign:
-    type: git
-    url: https://github.com/ignitionrobotics/ros_ign.git
-    version: galactic
-  ign_ros2_control:
-    type: git
-    url: https://github.com/AndrejOrsula/ign_ros2_control.git
-    version: devel
-  ros2_controllers:
-    type: git
-    url: https://github.com/AndrejOrsula/ros2_controllers.git
-    version: jtc_effort
+  #pymoveit2:
+  #  type: git
+  #  url: https://github.com/AndrejOrsula/pymoveit2.git
+  #  version: master
+  #panda_ign_moveit2:
+  #  type: git
+  #  url: https://github.com/AndrejOrsula/panda_ign_moveit2.git
+  #  version: master
+  #ros_ign:
+  #  type: git
+  #  url: https://github.com/ignitionrobotics/ros_ign.git
+  #  version: galactic
+  #ign_ros2_control:
+  #  type: git
+  #  url: https://github.com/AndrejOrsula/ign_ros2_control.git
+  #  version: devel
+  #ros2_controllers:
+  #  type: git
+  #  url: https://github.com/AndrejOrsula/ros2_controllers.git
+  #  version: jtc_effort
   xarm_ros2:
     type: git
     url: https://github.com/xArm-Developer/xarm_ros2
-    version: galactic
+    version: humble
diff --git a/package.xml b/package.xml
index 4af70cd..3405af1 100644
--- a/package.xml
+++ b/package.xml
@@ -21,9 +21,6 @@
   <exec_depend>ros_ign_gazebo</exec_depend>
   <exec_depend>rviz2</exec_depend>
 
-  <exec_depend>panda_description</exec_depend>
-  <exec_depend>panda_moveit_config</exec_depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/src/axidraw_controller/CMakeLists.txt b/src/axidraw_controller/CMakeLists.txt
index aed3487..4af5abc 100644
--- a/src/axidraw_controller/CMakeLists.txt
+++ b/src/axidraw_controller/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 #
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(robot_interfaces REQUIRED)
 find_package(robot_controller REQUIRED)
diff --git a/src/axidraw_controller/package.xml b/src/axidraw_controller/package.xml
index 575e365..e38470b 100644
--- a/src/axidraw_controller/package.xml
+++ b/src/axidraw_controller/package.xml
@@ -13,6 +13,7 @@
   <test_depend>ament_lint_common</test_depend>
 
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <!-- <depend>robot_interfaces</depend> -->
   <!-- <depend>robot_controller</depend> -->
   <depend>geometry_msgs</depend>
diff --git a/src/draw_svg/launch/robots/lite6_table.launch.py b/src/draw_svg/launch/robots/lite6_table.launch.py
index 16be54b..0b1699f 100644
--- a/src/draw_svg/launch/robots/lite6_table.launch.py
+++ b/src/draw_svg/launch/robots/lite6_table.launch.py
@@ -59,8 +59,8 @@ def launch_setup(context, *args, **kwargs):
     get_xacro_file_content = getattr(mod, 'get_xacro_file_content')
     robot_description = {
         'robot_description': get_xacro_file_content(
-            #xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
-            xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']),
+            xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+            #xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']),
             arguments={
                 'prefix': prefix,
                 'dof': dof,
diff --git a/src/draw_svg/src/py/drawing_surface.py b/src/draw_svg/src/py/drawing_surface.py
index 9bcc988..83871a9 100755
--- a/src/draw_svg/src/py/drawing_surface.py
+++ b/src/draw_svg/src/py/drawing_surface.py
@@ -1,11 +1,10 @@
 #!/usr/bin/env python3
-"""Example that uses MoveIt 2 to follow a target inside Ignition Gazebo"""
+"""GUI for virtual drawing surface"""
 
 import rclpy
 from geometry_msgs.msg import Pose, PoseWithCovariance, Point
 from nav_msgs.msg import Odometry
 from sensor_msgs.msg import Image as SensorImage
-from pymoveit2 import MoveIt2
 from robots import lite6
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.node import Node
diff --git a/src/drawing_controller/package.xml b/src/drawing_controller/package.xml
index 8ed1373..b35ede2 100644
--- a/src/drawing_controller/package.xml
+++ b/src/drawing_controller/package.xml
@@ -8,7 +8,7 @@
   <license>TODO: License declaration</license>
 
   <depend>rclpy</depend>
-  <depend>robot_interfaces</depend>
+  <exec_depend>robot_interfaces</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/src/lite6_controller/CMakeLists.txt b/src/lite6_controller/CMakeLists.txt
index 61c1f73..e792711 100644
--- a/src/lite6_controller/CMakeLists.txt
+++ b/src/lite6_controller/CMakeLists.txt
@@ -8,6 +8,7 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(robot_interfaces REQUIRED)
 find_package(robot_controller REQUIRED)
diff --git a/src/lite6_controller/package.xml b/src/lite6_controller/package.xml
index 8c663b9..8b8d793 100644
--- a/src/lite6_controller/package.xml
+++ b/src/lite6_controller/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <!-- <depend>robot_interfaces</depend> -->
   <!-- <depend>robot_controller</depend> -->
   <depend>moveit</depend>
diff --git a/src/robot_controller/CMakeLists.txt b/src/robot_controller/CMakeLists.txt
index 9092b07..f2ee5c9 100644
--- a/src/robot_controller/CMakeLists.txt
+++ b/src/robot_controller/CMakeLists.txt
@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(robot_interfaces REQUIRED)
 
 include_directories(include)
@@ -20,11 +21,13 @@ include_directories(include)
 add_library(robot_controller src/cpp/robot_controller.cpp)
 ament_target_dependencies(robot_controller
   "rclcpp"
+  "rclcpp_components"
   "rclcpp_action"
   "robot_interfaces")
 add_executable(dummy_controller src/cpp/dummy_controller.cpp)
 ament_target_dependencies(dummy_controller
   "rclcpp"
+  "rclcpp_components"
   "rclcpp_action"
   "robot_interfaces")
 
diff --git a/src/robot_interfaces/package.xml b/src/robot_interfaces/package.xml
index 9351354..5f2b4a5 100644
--- a/src/robot_interfaces/package.xml
+++ b/src/robot_interfaces/package.xml
@@ -12,6 +12,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <depend>python3-dev</depend>
   <depend>geometry_msgs</depend>
   <depend>action_msgs</depend>
   <depend>std_msgs</depend>