diff --git a/odri_bolt_bringup/launch/bolt_joint_trajectory_publisher.launch.py b/odri_bolt_bringup/launch/bolt_joint_trajectory_publisher.launch.py
index 8b2b78e..3cbf560 100644
--- a/odri_bolt_bringup/launch/bolt_joint_trajectory_publisher.launch.py
+++ b/odri_bolt_bringup/launch/bolt_joint_trajectory_publisher.launch.py
@@ -31,7 +31,7 @@ def generate_launch_description():
     return LaunchDescription(
         [
             Node(
-                package="ros2_control_test_nodes",
+                package="ros2_controllers_test_nodes",
                 executable="publisher_joint_trajectory_controller",
                 name="publisher_joint_trajectory_controller",
                 parameters=[position_goals],
diff --git a/odri_bolt_bringup/launch/test_forward_position_controller.launch.py b/odri_bolt_bringup/launch/test_forward_position_controller.launch.py
index 2bc6889..7c78d1a 100644
--- a/odri_bolt_bringup/launch/test_forward_position_controller.launch.py
+++ b/odri_bolt_bringup/launch/test_forward_position_controller.launch.py
@@ -31,7 +31,7 @@ def generate_launch_description():
     return LaunchDescription(
         [
             Node(
-                package="ros2_control_test_nodes",
+                package="ros2_controllers_test_nodes",
                 executable="publisher_forward_position_controller",
                 name="publisher_forward_position_controller",
                 parameters=[position_goals],
diff --git a/odri_bolt_bringup/package.xml b/odri_bolt_bringup/package.xml
index 101c28d..2b1a56e 100644
--- a/odri_bolt_bringup/package.xml
+++ b/odri_bolt_bringup/package.xml
@@ -17,7 +17,7 @@
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros2_description_bolt</exec_depend>
-  <exec_depend>ros2_control_test_nodes</exec_depend>
+  <exec_depend>ros2_controllers_test_nodes</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
 
diff --git a/odri_bolt_robot/package.xml b/odri_bolt_robot/package.xml
index d23753c..7e636b5 100644
--- a/odri_bolt_robot/package.xml
+++ b/odri_bolt_robot/package.xml
@@ -15,7 +15,7 @@
   <exec_depend>odri_bolt_bringup</exec_depend>
   <exec_depend>odri_bolt_description</exec_depend>
   <exec_depend>ros2_hardware_interface_odri</exec_depend>
-  <exec_depend>ros2_control_test_nodes</exec_depend>
+  <exec_depend>ros2_controllers_test_nodes</exec_depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>