diff --git a/moveit2.repos b/moveit2.repos
index c74e6089ed..4cf9f7bd35 100644
--- a/moveit2.repos
+++ b/moveit2.repos
@@ -23,3 +23,7 @@ repositories:
     type: git
     url: https://github.com/ompl/ompl.git
     version: main
+  srdfdom:
+    type: git
+    url: https://github.com/ros-planning/srdfdom.git
+    version: ros2
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 2c79b50427..ff5c9f0883 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -823,7 +823,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     if (!move_action_client_ || !move_action_client_->action_server_is_ready())
     {
       RCLCPP_INFO_STREAM(LOGGER, "MoveGroup action client/server not ready");
-      return moveit::core::MoveItErrorCodes::FAILURE;
+      return moveit::core::MoveItErrorCode::FAILURE;
     }
 
     moveit_msgs::action::MoveGroup::Goal goal;