diff --git a/ros2_controllers.jazzy.repos b/ros2_controllers.jazzy.repos
index 8c20eccc96..c6806a8128 100644
--- a/ros2_controllers.jazzy.repos
+++ b/ros2_controllers.jazzy.repos
@@ -14,7 +14,7 @@ repositories:
   control_toolbox:
     type: git
     url: https://github.com/ros-controls/control_toolbox.git
-    version: ros2-master
+    version: mv/speed_limiter
   kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git
diff --git a/ros2_controllers.rolling.repos b/ros2_controllers.rolling.repos
index 8c20eccc96..c6806a8128 100644
--- a/ros2_controllers.rolling.repos
+++ b/ros2_controllers.rolling.repos
@@ -14,7 +14,7 @@ repositories:
   control_toolbox:
     type: git
     url: https://github.com/ros-controls/control_toolbox.git
-    version: ros2-master
+    version: mv/speed_limiter
   kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git