diff --git a/CMakeLists.txt b/CMakeLists.txt
index 24eb11f6..a003957b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
              cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
              image_transport tf tf_conversions tf2_ros eigen_conversions laser_geometry pcl_conversions 
              pcl_ros nodelet dynamic_reconfigure message_filters class_loader
-             genmsg stereo_msgs move_base_msgs
+             genmsg stereo_msgs move_base_msgs image_geometry
 )
 
 # Optional components
@@ -123,7 +123,7 @@ catkin_package(
   CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
                  image_transport tf tf_conversions tf2_ros eigen_conversions laser_geometry pcl_conversions 
                  pcl_ros nodelet dynamic_reconfigure message_filters class_loader
-                 stereo_msgs move_base_msgs ${optional_dependencies}
+                 stereo_msgs move_base_msgs image_geometry ${optional_dependencies}
   DEPENDS RTABMap OpenCV
 )
 
diff --git a/package.xml b/package.xml
index ba16269d..372846a8 100644
--- a/package.xml
+++ b/package.xml
@@ -39,7 +39,8 @@
   <build_depend>move_base_msgs</build_depend>
   <build_depend>costmap_2d</build_depend>
   <build_depend>octomap_ros</build_depend>
-  
+  <build_depend>image_geometry</build_depend>
+
   <run_depend>cv_bridge</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
@@ -68,6 +69,7 @@
   <run_depend>move_base_msgs</run_depend>
   <run_depend>costmap_2d</run_depend>
   <run_depend>octomap_ros</run_depend>
+  <run_depend>image_geometry</run_depend>
 
   <build_depend>libpcl-all-dev</build_depend>