diff --git a/openarm_hardware/CMakeLists.txt b/openarm_hardware/CMakeLists.txt
index a1eba6e..c788555 100644
--- a/openarm_hardware/CMakeLists.txt
+++ b/openarm_hardware/CMakeLists.txt
@@ -63,6 +63,7 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(hardware_interface REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
 
   ament_add_gmock(test_openarm_hardware
     test/test_openarm_hardware.cpp
@@ -72,6 +73,7 @@ if(BUILD_TESTING)
   )
   ament_target_dependencies(test_openarm_hardware
     hardware_interface
+    ros2_control_test_assets
   )
 
   set(ament_cmake_copyright_FOUND TRUE)
diff --git a/openarm_hardware/package.xml b/openarm_hardware/package.xml
index dedf49b..7faa56e 100644
--- a/openarm_hardware/package.xml
+++ b/openarm_hardware/package.xml
@@ -30,6 +30,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ros2_control_test_assets</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>