diff --git a/lbr_bringup/package.xml b/lbr_bringup/package.xml
index 5b351434..d6905e26 100644
--- a/lbr_bringup/package.xml
+++ b/lbr_bringup/package.xml
@@ -11,7 +11,7 @@
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <exec_depend>controller_manager</exec_depend>
-  <exec_depend>ign_ros2_control</exec_depend>
+  <exec_depend>gz_ros2_control</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>lbr_description</exec_depend>
diff --git a/lbr_description/gazebo/lbr_gazebo.xacro b/lbr_description/gazebo/lbr_gazebo.xacro
index a828c0d5..174dc306 100644
--- a/lbr_description/gazebo/lbr_gazebo.xacro
+++ b/lbr_description/gazebo/lbr_gazebo.xacro
@@ -4,8 +4,8 @@
 
         <!-- ros_control-plugin -->
         <gazebo>
-            <plugin name="ign_ros2_control::IgnitionROS2ControlPlugin"
-                filename="ign_ros2_control-system">
+            <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin"
+                filename="gz_ros2_control-system">
                 <parameters>$(find lbr_ros2_control)/config/lbr_controllers.yaml</parameters>
                 <ros>
                     <namespace>/${robot_name}</namespace>
diff --git a/lbr_description/package.xml b/lbr_description/package.xml
index a3b807df..df572b03 100644
--- a/lbr_description/package.xml
+++ b/lbr_description/package.xml
@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_pytest</buildtool_depend>
 
-  <exec_depend>ign_ros2_control</exec_depend>
+  <exec_depend>gz_ros2_control</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
diff --git a/lbr_ros2_control/config/lbr_system_interface.xacro b/lbr_ros2_control/config/lbr_system_interface.xacro
index 23738b9a..833af578 100644
--- a/lbr_ros2_control/config/lbr_system_interface.xacro
+++ b/lbr_ros2_control/config/lbr_system_interface.xacro
@@ -15,7 +15,7 @@
             </xacro:if>
             <xacro:if value="${mode == 'gazebo'}">
                 <hardware>
-                    <plugin>ign_ros2_control/IgnitionSystem</plugin>
+                    <plugin>gz_ros2_control/GazeboSimSystem</plugin>
                 </hardware>
             </xacro:if>
             <xacro:if value="${mode == 'hardware'}">