diff --git a/flake.nix b/flake.nix
index 8e7b60f..17dd3b9 100644
--- a/flake.nix
+++ b/flake.nix
@@ -53,6 +53,23 @@
                   robot-state-publisher
                   ros2-control
                   controller-manager
+                  control-msgs
+                  control-toolbox
+                  moveit-core
+                  moveit-common
+                  moveit-msgs
+                  moveit-ros-planning
+                  moveit-ros-planning-interface
+                  moveit-configs-utils
+                  moveit-ros-move-group
+                  moveit-servo
+                  moveit-simple-controller-manager
+                  topic-based-ros2-control
+                  pilz-industrial-motion-planner
+                  pick-ik
+                  ompl
+                  chomp-motion-planner
+                  joy
                   # ros2-controllers nixpkg does not build :(
                 ];
               }
diff --git a/src/servo_arm_twist_pkg/package.xml b/src/servo_arm_twist_pkg/package.xml
index 2e9be76..c2d1601 100644
--- a/src/servo_arm_twist_pkg/package.xml
+++ b/src/servo_arm_twist_pkg/package.xml
@@ -49,7 +49,6 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>controller_manager</test_depend>
-  <!-- <test_depend>moveit_resources_panda_moveit_config</test_depend> -->
   <test_depend>ros_testing</test_depend>
 
   <export>