diff --git a/noetic/Dockerfile b/noetic/Dockerfile
index 1b97c90..7ebb32a 100644
--- a/noetic/Dockerfile
+++ b/noetic/Dockerfile
@@ -71,9 +71,14 @@ RUN /bin/sh -c 'echo "deb http://packages.ros.org/ros/ubuntu ${RELEASE} main" >
     ros-${DIST}-kdl-parser-py \
     ros-${DIST}-key-teleop \
     ros-${DIST}-move-base \
+    ros-${DIST}-moveit-commander \
+    ros-${DIST}-moveit-planners \
+    ros-${DIST}-moveit-simple-controller-manager \
+    ros-${DIST}-moveit-ros-visualization \
     ros-${DIST}-robot-localization \
     ros-${DIST}-robot-state-publisher \
     ros-${DIST}-ros-base \
+    ros-${DIST}-ros-controllers \
     ros-${DIST}-rqt \
     ros-${DIST}-rqt-common-plugins \
     ros-${DIST}-rqt-robot-plugins \