diff --git a/doc/examples/dual_arms/dual_arm_panda_moveit_config/config/panda.ros2_control.xacro b/doc/examples/dual_arms/dual_arm_panda_moveit_config/config/panda.ros2_control.xacro
new file mode 100644
index 0000000000..21943cfd9c
--- /dev/null
+++ b/doc/examples/dual_arms/dual_arm_panda_moveit_config/config/panda.ros2_control.xacro
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="panda_arm_ros2_control" params="name initial_positions_file prefix">
+        <xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
+
+        <ros2_control name="${prefix}${name}" type="system">
+            <hardware>
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="${prefix}panda_joint1">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['panda_joint1']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${prefix}panda_joint2">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['panda_joint2']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${prefix}panda_joint3">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['panda_joint3']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${prefix}panda_joint4">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['panda_joint4']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${prefix}panda_joint5">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['panda_joint5']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${prefix}panda_joint6">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['panda_joint6']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${prefix}panda_joint7">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['panda_joint7']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+        </ros2_control>
+    </xacro:macro>
+</robot>
diff --git a/doc/examples/dual_arms/dual_arm_panda_moveit_config/config/panda_hand.ros2_control.xacro b/doc/examples/dual_arms/dual_arm_panda_moveit_config/config/panda_hand.ros2_control.xacro
new file mode 100644
index 0000000000..8195da40ef
--- /dev/null
+++ b/doc/examples/dual_arms/dual_arm_panda_moveit_config/config/panda_hand.ros2_control.xacro
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="panda_hand_ros2_control" params="name prefix">
+        <ros2_control name="${name}" type="system">
+            <hardware>
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="${prefix}panda_finger_joint1">
+                <command_interface name="position" />
+                <state_interface name="position">
+                  <param name="initial_value">0.0</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${prefix}panda_finger_joint2">
+                <param name="mimic">${prefix}panda_finger_joint1</param>
+                <param name="multiplier">1</param>
+                <command_interface name="position" />
+                <state_interface name="position">
+                  <param name="initial_value">0.0</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+        </ros2_control>
+    </xacro:macro>
+
+</robot>
diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos
index aba486bc05..1300f6ea48 100644
--- a/moveit2_tutorials.repos
+++ b/moveit2_tutorials.repos
@@ -27,3 +27,15 @@ repositories:
     type: git
     url: https://github.com/ros-planning/srdfdom.git
     version: ros2
+  moveit2:
+    type: git
+    url: https://github.com/ros-planning/moveit2
+    version: main
+  moveit_resources:
+    type: git
+    url: https://github.com/ros-planning/moveit_resources
+    version: ros2
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: 2.12.1