diff --git a/openarm_bimanual_bringup/package.xml b/openarm_bimanual_bringup/package.xml
index 21d70df..da76e5b 100644
--- a/openarm_bimanual_bringup/package.xml
+++ b/openarm_bimanual_bringup/package.xml
@@ -23,6 +23,9 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>openarm_bimanual_description</exec_depend>
+  <exec_depend>ros2_control</exec_depend>
+  <exec_depend>ros2_controllers</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/openarm_bimanual_moveit_config/package.xml b/openarm_bimanual_moveit_config/package.xml
index 4d67cc3..f4b49c3 100644
--- a/openarm_bimanual_moveit_config/package.xml
+++ b/openarm_bimanual_moveit_config/package.xml
@@ -53,6 +53,8 @@
   <exec_depend>moveit_setup_assistant</exec_depend>
   <exec_depend>openarm_bimanual_description</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>ros2_control</exec_depend>
+  <exec_depend>ros2_controllers</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>rviz_common</exec_depend>
   <exec_depend>rviz_default_plugins</exec_depend>