diff --git a/package.xml b/package.xml
index e75a63098600b6fbcfd7090e263d30e1829e895b..4dace746a3beb678322bc4e920b27b655f6848c0 100644
--- a/package.xml
+++ b/package.xml
@@ -50,6 +50,7 @@
   <build_depend>controller_manager</build_depend> <!--Tests-only!-->
   <build_depend>gazebo_ros</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>control_toolbox</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>urdf</run_depend>
@@ -61,6 +62,7 @@
   <run_depend>controller_manager</run_depend> <!--Tests-only!-->
   <run_depend>gazebo_ros</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
+  <run_depend>control_toolbox</run_depend>
 
   <export>
     <controller_interface plugin="${prefix}/dynamixel_robot_plugin.xml"/>