diff --git a/stretch_gazebo/package.xml b/stretch_gazebo/package.xml
index a7de4be..1debea1 100644
--- a/stretch_gazebo/package.xml
+++ b/stretch_gazebo/package.xml
@@ -15,12 +15,14 @@
   <depend>controller_manager</depend>
   <depend>gazebo_msgs</depend>
   <depend>gazebo_plugins</depend>
+  <depend>gazebo_ros_control</depend>
   <depend>gazebo_ros</depend>
   <depend>nav_msgs</depend>
   <depend>realsense_gazebo_plugin</depend>
   <depend>realsense2_camera</depend>
   <depend>realsense2_description</depend>
   <depend>robot_state_publisher</depend>
+  <depend>ros_controllers</depend>
   <depend>rospy</depend>
   <depend>rviz</depend>
   <depend>std_msgs</depend>