diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 34e3db5475..8fa8dbbb2d 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -22,11 +22,7 @@ jobs:
           - IMAGE: rolling-ci-testing
             IKFAST_TEST: true
             ROS_DISTRO: rolling
-          - IMAGE: galactic-ci
             CLANG_TIDY: pedantic
-            ROS_DISTRO: galactic
-          - IMAGE: galactic-ci-testing
-            ROS_DISTRO: galactic
     env:
       CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-deprecated-copy"
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
diff --git a/moveit2.repos b/moveit2.repos
index ca4d5c9aef..71ee4bf3e0 100644
--- a/moveit2.repos
+++ b/moveit2.repos
@@ -15,3 +15,7 @@ repositories:
     type: git
     url: https://github.com/PickNikRobotics/launch_param_builder
     version: main
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: 2.1.0
diff --git a/moveit_core/trajectory_processing/test/test_ruckig_traj_smoothing.cpp b/moveit_core/trajectory_processing/test/test_ruckig_traj_smoothing.cpp
index a4a7110c6d..c1fbcf0834 100644
--- a/moveit_core/trajectory_processing/test/test_ruckig_traj_smoothing.cpp
+++ b/moveit_core/trajectory_processing/test/test_ruckig_traj_smoothing.cpp
@@ -69,6 +69,7 @@ TEST_F(RuckigTests, empty_trajectory)
 TEST_F(RuckigTests, not_enough_waypoints)
 {
   moveit::core::RobotState robot_state(robot_model_);
+  robot_state.setToDefaultValues();
   // First waypoint is default joint positions
   trajectory_->addSuffixWayPoint(robot_state, DEFAULT_TIMESTEP);
 
@@ -82,6 +83,7 @@ TEST_F(RuckigTests, not_enough_waypoints)
 TEST_F(RuckigTests, basic_trajectory)
 {
   moveit::core::RobotState robot_state(robot_model_);
+  robot_state.setToDefaultValues();
   // First waypoint is default joint positions
   trajectory_->addSuffixWayPoint(robot_state, DEFAULT_TIMESTEP);
 
diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml
index 01ea0730d3..04399ffa99 100644
--- a/moveit_planners/pilz_industrial_motion_planner/package.xml
+++ b/moveit_planners/pilz_industrial_motion_planner/package.xml
@@ -49,9 +49,11 @@
   -->
   <test_depend>boost</test_depend>
 
+  <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ros_testing</test_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>