diff --git a/gazebo_dev/package.xml b/gazebo_dev/package.xml
index b8e80cf95..28803c152 100644
--- a/gazebo_dev/package.xml
+++ b/gazebo_dev/package.xml
@@ -20,8 +20,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_export_depend>libgazebo9-dev</build_export_depend>
-  <exec_depend>gazebo9</exec_depend>
+  <build_export_depend>libgazebo11-dev</build_export_depend>
+  <exec_depend>gazebo11</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/gazebo_plugins/src/gazebo_ros_ray_sensor.cpp b/gazebo_plugins/src/gazebo_ros_ray_sensor.cpp
index 1052da7d6..80a97e449 100644
--- a/gazebo_plugins/src/gazebo_ros_ray_sensor.cpp
+++ b/gazebo_plugins/src/gazebo_ros_ray_sensor.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <boost/make_shared.hpp>
+#include <boost/variant.hpp>
 #include <gazebo/transport/transport.hh>
 #include <gazebo_plugins/gazebo_ros_ray_sensor.hpp>
 #include <gazebo_ros/conversions/sensor_msgs.hpp>