diff --git a/drawing_robot_ros2.repos b/drawing_robot_ros2.repos
index cf072b1..d94d636 100644
--- a/drawing_robot_ros2.repos
+++ b/drawing_robot_ros2.repos
@@ -23,3 +23,7 @@ repositories:
     type: git
     url: https://github.com/xArm-Developer/xarm_ros2
     version: humble
+  moveit_visual_tools:
+    type: git
+    url: https://github.com/ros-planning/moveit_visual_tools
+    version: ros2
diff --git a/package.xml b/package.xml
index 37644d6..feb057e 100644
--- a/package.xml
+++ b/package.xml
@@ -13,12 +13,9 @@
   <depend>geometry_msgs</depend>
   <depend>moveit_ros_planning_interface</depend>
 
-  <exec_depend>ign_ros2_control</exec_depend>
   <exec_depend>moveit</exec_depend>
   <exec_depend>pymoveit2</exec_depend>
   <exec_depend>rclpy</exec_depend>
-  <exec_depend>ros_ign_bridge</exec_depend>
-  <exec_depend>ros_ign_gazebo</exec_depend>
   <exec_depend>rviz2</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/src/draw_svg/CMakeLists.txt b/src/draw_svg/CMakeLists.txt
index 2081abb..a59c350 100644
--- a/src/draw_svg/CMakeLists.txt
+++ b/src/draw_svg/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(tf2_ros REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(moveit_ros_planning_interface REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
 
 # Install C++
 set(SRC_CPP_DIR src/cpp)