diff --git a/clearpath_generator_robot/package.xml b/clearpath_generator_robot/package.xml
index 50fe448..a317337 100644
--- a/clearpath_generator_robot/package.xml
+++ b/clearpath_generator_robot/package.xml
@@ -13,10 +13,10 @@
   <exec_depend>clearpath_config</exec_depend>
   <exec_depend>clearpath_diagnostics</exec_depend>
   <exec_depend>clearpath_generator_common</exec_depend>
+  <exec_depend>clearpath_motor_msgs</exec_depend>
   <exec_depend>clearpath_sensors</exec_depend>
   <exec_depend>imu_filter_madgwick</exec_depend>
   <exec_depend>micro_ros_agent</exec_depend>
-  <exec_depend>puma_motor_driver</exec_depend>
   <exec_depend>sevcon_traction</exec_depend>
   <exec_depend>valence_bms_driver</exec_depend>
   <exec_depend>wireless_watcher</exec_depend>
diff --git a/clearpath_generator_robot/test/test_generator_param.py b/clearpath_generator_robot/test/test_generator_param.py
index 9045351..010640e 100644
--- a/clearpath_generator_robot/test/test_generator_param.py
+++ b/clearpath_generator_robot/test/test_generator_param.py
@@ -29,9 +29,11 @@
 import shutil
 
 from ament_index_python.packages import get_package_share_directory
+from clearpath_generator_common.ros import ROS_DISTRO
 from clearpath_generator_robot.param.generator import RobotParamGenerator
 
-SAMPLE_DIR = '/opt/ros/humble/share/clearpath_config/sample/'
+
+SAMPLE_DIR = f'/opt/ros/{ROS_DISTRO}/share/clearpath_config/sample/'
 
 
 class TestRobotLaunchGenerator: