diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index 76dd4b5596..15e7fd5603 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -41,13 +41,7 @@
   <depend>libfcl-dev</depend>
   <depend>moveit_common</depend>
   <depend>moveit_msgs</depend>
-  <!--
-  Temporarily disable octomap dependency because of
-  version conflict. We use liboctomap-dev provided
-  by libfcl-dev.
-  See https://github.com/moveit/moveit2/issues/2862
-  <depend>octomap</depend>
-  -->
+  <depend>liboctomap-dev</depend>
   <depend>octomap_msgs</depend>
   <depend>osqp_vendor</depend>
   <depend>pluginlib</depend>
diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml
index 6ba31b2f19..21fba78c5c 100644
--- a/moveit_ros/occupancy_map_monitor/package.xml
+++ b/moveit_ros/occupancy_map_monitor/package.xml
@@ -26,13 +26,7 @@
   <depend>rclcpp</depend>
   <depend>moveit_core</depend>
   <depend>moveit_msgs</depend>
-  <!--
-  Temporarily disable octomap dependency because of
-  version conflict. We use liboctomap-dev provided
-  by moveit_core->libfcl-dev.
-  See https://github.com/moveit/moveit2/issues/2862
-  <depend>octomap</depend>
-  -->
+  <depend>liboctomap-dev</depend>
   <depend version_gte="1.11.2">pluginlib</depend>
   <depend>tf2_ros</depend>
   <depend>geometric_shapes</depend>