diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index 98ab77f6..fcfc4afa 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -66,6 +66,7 @@ jobs:
       if: matrix.platform == 'linux-aarch64'
       shell: bash -l {0}
       run: |
+        sudo apt-get update
         sudo apt-get install -y libgl1-mesa-dev libglu1-mesa-dev libx11-dev libxi-dev libxmu-dev
 
     - shell: bash -l {0}
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index 6449f036..47eccd02 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -125,6 +125,9 @@ packages_select_by_deps:
   - realsense2-description
   - webots_ros2
 
+  # Modern gz-sim integration
+  - ros-gz
+
   # Needs fixing
   # - moveit-resources
 
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 060bec1e..a8cadaec 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -85,6 +85,9 @@ packages_select_by_deps:
   # - control_toolbox
   # - ros1_bridge
 
+  # Modern gz-sim integration
+  - ros-gz
+
   # Used to work, now needs fixes
   # - rtabmap
   # - webots-ros2
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 48c33ec6..05c3c589 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -91,6 +91,9 @@ packages_select_by_deps:
   - apriltag
   - apriltag_ros
 
+  # Modern gz-sim integration
+  - ros-gz
+
   # - moveit
   # - moveit_servo
 
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index c0e0d667..7a146053 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -83,6 +83,9 @@ packages_select_by_deps:
   - sbg_driver
   - ackermann-msgs
 
+  # Modern gz-sim integration
+  - ros-gz
+
   # - moveit