diff --git a/CMakeLists.txt b/CMakeLists.txt
index ee151ec8aa84222b444abf339195664fb3b7b453..72cd02b8c8dbf92ffff32e63dae820fbaf2f6b14 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -73,7 +73,7 @@ IF (UNIX)
   SET(CPACK_GENERATOR "DEB")
   SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "labrobotica@iri.upc.edu")
   SET(CPACK_SET_DESTDIR "ON")  # Necessary because of the absolute install paths
-
+  SET(CPACK_DEBIAN_PACKAGE_DEPENDS "iri-dynamixel-dev  (>= 1.2~${DISTRIB}), iri_motor_control_dev  (>= 1.0.4~${DISTRIB}) ")
   INCLUDE(CPack)
 ELSE(UNIX)
   ADD_CUSTOM_COMMAND(