diff --git a/stretch_navigation/package.xml b/stretch_navigation/package.xml
index 2ffbb8c..3ea4898 100644
--- a/stretch_navigation/package.xml
+++ b/stretch_navigation/package.xml
@@ -9,8 +9,19 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>move_base</exec_depend>
+  <exec_depend>global_planner</exec_depend>
+  <exec_depend>dwa_local_planner</exec_depend>
   <exec_depend>amcl</exec_depend>
   <exec_depend>map_server</exec_depend>
   <exec_depend>gmapping</exec_depend>
+  <exec_depend>grid_map_octomap</exec_depend>
+  <exec_depend>octomap</exec_depend>
+  <exec_depend>octomap_mapping</exec_depend>
+  <exec_depend>octomap_msgs</exec_depend>
+  <exec_depend>octomap_ros</exec_depend>
+  <exec_depend>octomap_rviz_plugins</exec_depend>
+  <exec_depend>octomap_server</exec_depend>
+  <exec_depend>octovis</exec_depend>
   <exec_depend>stretch_core</exec_depend>
+  <exec_depend>stretch_gazebo</exec_depend>
 </package>