diff --git a/nav2_system_tests/package.xml b/nav2_system_tests/package.xml
index ec3f0d2f42a..e80f4bce60c 100644
--- a/nav2_system_tests/package.xml
+++ b/nav2_system_tests/package.xml
@@ -26,7 +26,7 @@
   <build_depend>geometry_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>tf2_geometry_msgs</build_depend>
-  <build_depend>gazebo_ros_pkgs</build_depend>
+  <!-- <build_depend>gazebo_ros_pkgs</build_depend> -->
   <build_depend>launch_ros</build_depend>
   <build_depend>launch_testing</build_depend>
   <build_depend>nav2_planner</build_depend>
@@ -48,7 +48,7 @@
   <exec_depend>nav2_amcl</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>tf2_geometry_msgs</exec_depend>
-  <exec_depend>gazebo_ros_pkgs</exec_depend>
+  <!-- <exec_depend>gazebo_ros_pkgs</exec_depend> -->
   <exec_depend>navigation2</exec_depend>
   <exec_depend>lcov</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/tools/underlay.repos b/tools/underlay.repos
index 986e078866b..f1751e1ce17 100644
--- a/tools/underlay.repos
+++ b/tools/underlay.repos
@@ -19,7 +19,7 @@ repositories:
   #   type: git
   #   url: https://github.com/ros/bond_core.git
   #   version: ros2
-  # ompl/ompl:
-  #   type: git
-  #   url: https://github.com/ompl/ompl.git
-  #   version: main
+  ompl/ompl:
+    type: git
+    url: https://github.com/ruffsl/ompl.git
+    version: ament_cmake