diff --git a/package.xml b/package.xml
index 5b82a5934572353b2343720f21e57108e6bf4320..d35a16da424090e96729fdcad0ce013a62e63f38 100644
--- a/package.xml
+++ b/package.xml
@@ -50,6 +50,7 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>iri_velodyne_gazebo</exec_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>