diff --git a/rosdep.yaml b/rosdep.yaml
new file mode 100644
index 0000000..cd02b7b
--- /dev/null
+++ b/rosdep.yaml
@@ -0,0 +1,9 @@
+python3-fastapi:
+  ubuntu:
+    pip:
+      packages: [fastapi]
+
+python3-uvicorn:
+  ubuntu:
+    pip:
+      packages: ["uvicorn[standard]"]
diff --git a/src/iiwa_bringup/package.xml b/src/iiwa_bringup/package.xml
index 1fbf92b..7fc6399 100644
--- a/src/iiwa_bringup/package.xml
+++ b/src/iiwa_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiwa_bringup</name>
-  <version>2026.05.31</version>
+  <version>2026.5.31</version>
   <description>Launch files for cobot: Webots simulation, real robot via FRI, MoveIt motion planning and RViz visualization</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
diff --git a/src/iiwa_config/package.xml b/src/iiwa_config/package.xml
index 0d70c4b..b112968 100644
--- a/src/iiwa_config/package.xml
+++ b/src/iiwa_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiwa_config</name>
-  <version>2026.05.31</version>
+  <version>2026.5.31</version>
   <description>Configuration files for cobot: MoveIt, ros2_control controllers, kinematics and general system settings</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
diff --git a/src/iiwa_controller/package.xml b/src/iiwa_controller/package.xml
index fabcdbc..479aa24 100644
--- a/src/iiwa_controller/package.xml
+++ b/src/iiwa_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiwa_controller</name>
-  <version>2026.05.31</version>
+  <version>2026.5.31</version>
   <description>Hardware interface for cobot: real-time joint control via FRI (Fast Robot Interface) within the ros2_control ecosystem</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
diff --git a/src/iiwa_description/package.xml b/src/iiwa_description/package.xml
index 648ee2e..660e0f1 100644
--- a/src/iiwa_description/package.xml
+++ b/src/iiwa_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiwa_description</name>
-  <version>2026.05.31</version>
+  <version>2026.5.31</version>
   <description>URDF/XACRO robot description for cobot and Webots world configuration</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
diff --git a/src/iiwa_msgs/package.xml b/src/iiwa_msgs/package.xml
index 2871b85..2671894 100644
--- a/src/iiwa_msgs/package.xml
+++ b/src/iiwa_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiwa_msgs</name>
-  <version>2026.05.31</version>
+  <version>2026.5.31</version>
   <description>ROS 2 interfaces for cobot: action messages for joint-space and Cartesian motion, services for transitioning to named poses defined in SRDF</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
diff --git a/src/iiwa_planning/package.xml b/src/iiwa_planning/package.xml
index 1a30166..0be8b87 100644
--- a/src/iiwa_planning/package.xml
+++ b/src/iiwa_planning/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiwa_planning</name>
-  <version>2026.05.31</version>
+  <version>2026.5.31</version>
   <description>Motion planning for cobot: C++ and Python nodes built on MoveIt 2 with OMPL, Pilz Industrial Motion and moveit_py support</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
diff --git a/src/iiwa_utils/package.xml b/src/iiwa_utils/package.xml
index 3a59482..15a049d 100644
--- a/src/iiwa_utils/package.xml
+++ b/src/iiwa_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiwa_utils</name>
-  <version>2026.05.31</version>
+  <version>2026.5.31</version>
   <description>Utilities for the cobot system: configuration loading, URDF/XACRO processing, object and camera spawning in Webots, geometric data conversion</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
diff --git a/src/iiwa_utils/setup.py b/src/iiwa_utils/setup.py
index d13eabd..857a6e7 100644
--- a/src/iiwa_utils/setup.py
+++ b/src/iiwa_utils/setup.py
@@ -4,7 +4,7 @@ package_name = 'iiwa_utils'
 
 setup(
     name=package_name,
-    version='2026.05.31',
+    version='2026.5.31',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/src/iiwa_web/package.xml b/src/iiwa_web/package.xml
index 3548571..6188402 100644
--- a/src/iiwa_web/package.xml
+++ b/src/iiwa_web/package.xml
@@ -2,11 +2,14 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiwa_web</name>
-  <version>2026.05.31</version>
+  <version>2026.5.31</version>
   <description>Web interface for monitoring and remote control of the cobot via browser</description>
   <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
   <license>Apache-2.0</license>
 
+  <exec_depend>python3-fastapi</exec_depend>
+  <exec_depend>python3-uvicorn</exec_depend>
+
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
diff --git a/src/iiwa_web/setup.py b/src/iiwa_web/setup.py
index 7ac7184..5a3b24d 100644
--- a/src/iiwa_web/setup.py
+++ b/src/iiwa_web/setup.py
@@ -4,14 +4,18 @@ package_name = 'iiwa_web'
 
 setup(
     name=package_name,
-    version='2026.05.31',
+    version='2026.5.31',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
     ],
-    install_requires=['setuptools'],
+    install_requires=[
+        'setuptools',
+        'fastapi',
+        'uvicorn[standard]'
+    ],
     zip_safe=True,
     maintainer='daniel',
     maintainer_email='grabardm@ml-dev.ru',