diff --git a/package.xml b/package.xml
index 9063fc2208dc8c6d88ac8482ea5222f5e729ae5f..0e19b27ccc802aa97f1671649c425ca51e226032 100644
--- a/package.xml
+++ b/package.xml
@@ -50,6 +50,7 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
+  <exec_depend>xacro</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>