diff --git a/README.md b/README.md
index c9a35a5b..5c1eab2d 100644
--- a/README.md
+++ b/README.md
@@ -16,9 +16,14 @@ Foxy | Edifice | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/fox
 Galactic | Edifice | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | https://packages.ros.org
 Galactic | Fortress | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | only from source
 Humble | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
+Iron | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Iron | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
+Iron | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Iron | Harmonic (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
 Rolling | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
 Rolling | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
 Rolling | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Rolling | Harmonic (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
 
 ## Build status
 
@@ -37,6 +42,7 @@ If you want compile this from source, you should choose the Gazebo version. The
 ```bash
 export GZ_VERSION=fortress
 export GZ_VERSION=garden
+export GZ_VERSION=harmonic
 ```
 
 Then create a workspace, clone the repo and compile it:
diff --git a/gz_ros2_control/CMakeLists.txt b/gz_ros2_control/CMakeLists.txt
index 8ec5f5a5..c28ae795 100644
--- a/gz_ros2_control/CMakeLists.txt
+++ b/gz_ros2_control/CMakeLists.txt
@@ -36,6 +36,15 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden")
   set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
   set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
   add_definitions(-DGZ_HEADERS)
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Harmonic")
+  find_package(gz-plugin2 REQUIRED)
+  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+  set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
+  set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
+  add_definitions(-DGZ_HEADERS)
 else()
   find_package(ignition-gazebo6 REQUIRED)
   set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
diff --git a/gz_ros2_control/package.xml b/gz_ros2_control/package.xml
index 6a97719a..6344c7bb 100644
--- a/gz_ros2_control/package.xml
+++ b/gz_ros2_control/package.xml
@@ -15,10 +15,12 @@
   <depend condition="$GZ_VERSION == ''">ignition-gazebo6</depend>
   <depend condition="$GZ_VERSION == fortress">ignition-gazebo6</depend>
   <depend condition="$GZ_VERSION == garden">gz-sim7</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-sim8</depend>
 
   <depend condition="$GZ_VERSION == ''">ignition-plugin</depend>
   <depend condition="$GZ_VERSION == fortress">ignition-plugin</depend>
   <depend condition="$GZ_VERSION == garden">gz-plugin2</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-plugin2</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>yaml_cpp_vendor</depend>
diff --git a/gz_ros2_control_demos/package.xml b/gz_ros2_control_demos/package.xml
index 45565b05..51ef09fb 100644
--- a/gz_ros2_control_demos/package.xml
+++ b/gz_ros2_control_demos/package.xml
@@ -37,6 +37,7 @@
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend condition="$GZ_VERSION == ''">ros_gz_sim</exec_depend>
+  <exec_depend condition="$GZ_VERSION == 'harmonic'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'garden'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'fortress'">ros_ign_gazebo</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>
diff --git a/gz_ros2_control_tests/package.xml b/gz_ros2_control_tests/package.xml
index 67add5ff..870ceef6 100644
--- a/gz_ros2_control_tests/package.xml
+++ b/gz_ros2_control_tests/package.xml
@@ -29,6 +29,7 @@
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend condition="$GZ_VERSION == ''">ros_gz_sim</exec_depend>
+  <exec_depend condition="$GZ_VERSION == 'harmonic'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'garden'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'fortress'">ros_ign_gazebo</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>