diff --git a/.github/upstream.repos b/.github/upstream.repos
index f09982304c..9ceb4b40d4 100644
--- a/.github/upstream.repos
+++ b/.github/upstream.repos
@@ -16,10 +16,12 @@ repositories:
     url: https://github.com/PickNikRobotics/rviz_visual_tools.git
     version: ros2
   # Remove ros2_kortex when rolling binaries are available.
+  # Need to use this fork since ros2_kortex depends on Gazebo classic packages:
+  # https://github.com/Kinovarobotics/ros2_kortex/issues/217
   ros2_kortex:
     type: git
-    url: https://github.com/Kinovarobotics/ros2_kortex.git
-    version: main
+    url: https://github.com/sea-bass/ros2_kortex.git
+    version: remove-gazebo-classic
   # Remove ros2_robotiq_gripper when rolling binaries are available.
   ros2_robotiq_gripper:
     type: git
@@ -30,3 +32,8 @@ repositories:
     type: git
     url: https://github.com/tylerjw/serial.git
     version: ros2
+  # Doesn't seem to be available from binaries yet
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master
diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos
index fb5931a414..c6e8eaf7b3 100644
--- a/moveit2_tutorials.repos
+++ b/moveit2_tutorials.repos
@@ -8,10 +8,12 @@ repositories:
     url: https://github.com/moveit/moveit_visual_tools
     version: ros2
   # Remove ros2_kortex when rolling binaries are available.
+  # Need to use this fork since ros2_kortex depends on Gazebo classic packages:
+  # https://github.com/Kinovarobotics/ros2_kortex/issues/217
   ros2_kortex:
     type: git
-    url: https://github.com/Kinovarobotics/ros2_kortex.git
-    version: main
+    url: https://github.com/sea-bass/ros2_kortex.git
+    version: remove-gazebo-classic
   # Remove ros2_robotiq_gripper when rolling binaries are available.
   ros2_robotiq_gripper:
     type: git
@@ -42,3 +44,8 @@ repositories:
     type: git
     url: https://github.com/PickNikRobotics/pick_ik
     version: main
+  # Doesn't seem to be available from binaries yet
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master