diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 91d73f1a..a61c514c 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -17,6 +17,8 @@ jobs:
       - uses: ros-tooling/setup-ros@0.0.23
       - uses: ros-tooling/action-ros-ci@0.0.17
         with:
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ahcorde/control_toolbox/ahcorde/pid_wrapper/control_toolbox.rosinstall
           package-name: control_toolbox
           colcon-mixin-name: coverage-gcc
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
diff --git a/control_toolbox.rosinstall b/control_toolbox.rosinstall
new file mode 100644
index 00000000..576f76b8
--- /dev/null
+++ b/control_toolbox.rosinstall
@@ -0,0 +1,5 @@
+repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: foxy-devel