diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
index 3e360e781a..1550553405 100644
--- a/joint_trajectory_controller/CMakeLists.txt
+++ b/joint_trajectory_controller/CMakeLists.txt
@@ -18,7 +18,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     rclcpp_lifecycle
     realtime_tools
     rsl
-    tl_expected
     trajectory_msgs
 )
 
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
index 0b22c7cdd9..6866f3a15b 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
@@ -21,7 +21,7 @@
 #include "parameter_traits/parameter_traits.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rsl/algorithm.hpp"
-#include "tl_expected/expected.hpp"
+#include "tl/expected.hpp"
 
 namespace joint_trajectory_controller
 {
@@ -33,7 +33,7 @@ tl::expected<void, std::string> command_interface_type_combinations(
   // Check if command interfaces combination is valid. Valid combinations are:
   // 1. effort
   // 2. velocity
-  // 2. position [velocity, [acceleration]]
+  // 3. position [velocity, [acceleration]]
 
   if (
     rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
index 138f72a570..368cec3ca2 100644
--- a/joint_trajectory_controller/package.xml
+++ b/joint_trajectory_controller/package.xml
@@ -24,13 +24,13 @@
   <depend>control_toolbox</depend>
   <depend>generate_parameter_library</depend>
   <depend>hardware_interface</depend>
+  <depend>libexpected-dev</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>realtime_tools</depend>
   <depend>rsl</depend>
-  <depend>tl_expected</depend>
   <depend>trajectory_msgs</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>