diff --git a/CMakeLists.txt b/CMakeLists.txt
index f414c3d..df63da3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,71 +1,80 @@
 cmake_minimum_required(VERSION 3.8)
 project(simulation)
 
+if(DEFINED ENV{ROS_DISTRO})
+    set(ROS_DISTRO $ENV{ROS_DISTRO})
+endif()
+
 # Find required packages
 find_package(ament_cmake REQUIRED)
-find_package(ignition-plugin1 REQUIRED COMPONENTS register)
-find_package(ignition-gazebo6 REQUIRED)
-find_package(ignition-physics5 REQUIRED)
-find_package(ignition-common4 REQUIRED)
-find_package(ignition-rendering6 REQUIRED)
-
-# Set Gazebo plugin and sim versions
-set(IGNITION_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
-set(IGNITION_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
-set(IGNITION_COMMON_VER ${ignition-common4_VERSION_MAJOR})
-set(IGNITION_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
-set(IGNITION_SENSORS_VER ${ignition-sensors6_VERSION_MAJOR})
-
-# Add the plugins directory to the include path
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/Plugins)
-
-# Add the SolarPanelPlugin library
-add_library(SolarPanelPlugin SHARED
-  plugins/SolarPanelPlugin.cc
-)
-
-# Link the SolarPanelPlugin library with required dependencies
-target_link_libraries(SolarPanelPlugin
-  PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
-  PRIVATE ignition-common${IGNITION_COMMON_VER}::ignition-common${IGNITION_COMMON_VER}
-  PRIVATE ignition-rendering${IGNITION_RENDERING_VER}::ignition-rendering${IGNITION_RENDERING_VER}
-  PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
-)
-
-# Add the RadioisotopeThermalGeneratorPlugin library
-add_library(RadioisotopeThermalGeneratorPlugin SHARED
-  plugins/RadioisotopeThermalGeneratorPlugin.cc
-)
-
-# Link the RadioisotopeThermalGeneratorPlugin library with required dependencies
-target_link_libraries(RadioisotopeThermalGeneratorPlugin
-  PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
-  PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
-)
 
-# Add the RechargeableBatteryPlugin library
-add_library(RechargeableBatteryPlugin SHARED
-  plugins/RechargeableBatteryPlugin.cc
-)
-
-# Link the RechargeableBatteryPlugin library with required dependencies
-target_link_libraries(RechargeableBatteryPlugin
-  PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
-  PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
-)
-
-# add the SensorPowerSystemPlugin library
-add_library(SensorPowerSystemPlugin SHARED
-  plugins/SensorPowerSystemPlugin.cc
-)
-
-# Link the SensorPowerSystemPlugin library with required dependencies
-target_link_libraries(SensorPowerSystemPlugin
-  PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
-  PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
-  PRIVATE ignition-gazebo${IGNITION_SIM_VER}::ignition-gazebo${IGNITION_SIM_VER}
-  PRIVATE ignition-sensors${IGNITION_SENSORS_VER}::ignition-sensors${IGNITION_SENSORS_VER}
-)
+if(ROS_DISTRO STREQUAL "humble")
+  # Find required packages
+  find_package(ignition-plugin1 REQUIRED COMPONENTS register)
+  find_package(ignition-gazebo6 REQUIRED)
+  find_package(ignition-physics5 REQUIRED)
+  find_package(ignition-common4 REQUIRED)
+  find_package(ignition-rendering6 REQUIRED)
+
+  # Set Gazebo plugin and sim versions
+  set(IGNITION_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
+  set(IGNITION_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
+  set(IGNITION_COMMON_VER ${ignition-common4_VERSION_MAJOR})
+  set(IGNITION_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
+  set(IGNITION_SENSORS_VER ${ignition-sensors6_VERSION_MAJOR})
+
+  # Add the plugins directory to the include path
+  include_directories(${CMAKE_CURRENT_SOURCE_DIR}/Plugins)
+
+  # Add the SolarPanelPlugin library
+  add_library(SolarPanelPlugin SHARED
+    plugins/SolarPanelPlugin.cc
+  )
+
+  # Link the SolarPanelPlugin library with required dependencies
+  target_link_libraries(SolarPanelPlugin
+    PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
+    PRIVATE ignition-common${IGNITION_COMMON_VER}::ignition-common${IGNITION_COMMON_VER}
+    PRIVATE ignition-rendering${IGNITION_RENDERING_VER}::ignition-rendering${IGNITION_RENDERING_VER}
+    PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
+  )
+
+  # Add the RadioisotopeThermalGeneratorPlugin library
+  add_library(RadioisotopeThermalGeneratorPlugin SHARED
+    plugins/RadioisotopeThermalGeneratorPlugin.cc
+  )
+
+  # Link the RadioisotopeThermalGeneratorPlugin library with required dependencies
+  target_link_libraries(RadioisotopeThermalGeneratorPlugin
+    PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
+    PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
+  )
+
+  # Add the RechargeableBatteryPlugin library
+  add_library(RechargeableBatteryPlugin SHARED
+    plugins/RechargeableBatteryPlugin.cc
+  )
+
+  # Link the RechargeableBatteryPlugin library with required dependencies
+  target_link_libraries(RechargeableBatteryPlugin
+    PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
+    PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
+  )
+
+  # add the SensorPowerSystemPlugin library
+  add_library(SensorPowerSystemPlugin SHARED
+    plugins/SensorPowerSystemPlugin.cc
+  )
+
+  # Link the SensorPowerSystemPlugin library with required dependencies
+  target_link_libraries(SensorPowerSystemPlugin
+    PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
+    PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
+    PRIVATE ignition-gazebo${IGNITION_SIM_VER}::ignition-gazebo${IGNITION_SIM_VER}
+    PRIVATE ignition-sensors${IGNITION_SENSORS_VER}::ignition-sensors${IGNITION_SENSORS_VER}
+  )
+
+endif()
 
 # Create the models directory
 file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/models/curiosity_path)
@@ -77,12 +86,14 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
-# Install the plugin library
-install(TARGETS SolarPanelPlugin RadioisotopeThermalGeneratorPlugin RechargeableBatteryPlugin SensorPowerSystemPlugin
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
+if(ROS_DISTRO STREQUAL "humble")
+  # Install the plugin library
+  install(TARGETS SolarPanelPlugin RadioisotopeThermalGeneratorPlugin RechargeableBatteryPlugin SensorPowerSystemPlugin
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+endif()
 
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
 
diff --git a/package.xml b/package.xml
index 7e96866..ea52ba9 100644
--- a/package.xml
+++ b/package.xml
@@ -7,19 +7,20 @@
   <maintainer email="dharini@openrobotics.org">Dharini Dutia</maintainer>
   <license>Apache-2.0</license>
 
+  <buildtool_depend>ros_environment</buildtool_depend>
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>ign-cmake2</depend>
-  <depend>ign-plugin1</depend>
-  <depend>ign-common4</depend>
-  <depend>ign-gazebo6</depend>
-  <depend>ign-rendering6</depend>
-  <depend>ign-sensors6</depend>
+  <depend condition="$ROS_DISTRO == 'humble'">ign-cmake2</depend>
+  <depend condition="$ROS_DISTRO == 'humble'">ign-plugin1</depend>
+  <depend condition="$ROS_DISTRO == 'humble'">ign-common4</depend>
+  <depend condition="$ROS_DISTRO == 'humble'">ign-gazebo6</depend>
+  <depend condition="$ROS_DISTRO == 'humble'">ign-rendering6</depend>
+  <depend condition="$ROS_DISTRO == 'humble'">ign-sensors6</depend>
 
   <exec_depend>xacro</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
-    <gazebo_ros gazebo_plugin_path="${prefix}/lib"/>
+    <gazebo_ros condition="$ROS_DISTRO == 'humble'" gazebo_plugin_path="${prefix}/lib"/>
   </export>
 </package>