diff --git a/package.xml b/package.xml
index a7191834ee75e9e3a031b47f471e30603a1fe76b..29eaea060fefacce1f0a98db4d698d6f074963af 100644
--- a/package.xml
+++ b/package.xml
@@ -49,6 +49,7 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>iri_imu_gazebo</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->