diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
index 6b67de6f65..f370fcfb3b 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
   urdf
 )
@@ -57,7 +56,6 @@ target_link_libraries(joint_trajectory_controller PUBLIC
                       rclcpp_lifecycle::rclcpp_lifecycle
                       realtime_tools::realtime_tools
                       rsl::rsl
-                      tl_expected::tl_expected
                       urdf::urdf
                       angles::angles
                       ${trajectory_msgs_TARGETS}
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 e0cb4313d5..09e8fc7dde 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
@@ -20,7 +20,7 @@
 
 #include "rclcpp/parameter.hpp"
 #include "rsl/algorithm.hpp"
-#include "tl_expected/expected.hpp"
+#include "tl/expected.hpp"
 
 namespace joint_trajectory_controller
 {
diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
index 0ae75c4bf4..b5eced17e8 100644
--- a/joint_trajectory_controller/package.xml
+++ b/joint_trajectory_controller/package.xml
@@ -26,13 +26,13 @@
   <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>
   <depend>urdf</depend>