diff --git a/rtabmap_demos/CMakeLists.txt b/rtabmap_demos/CMakeLists.txt
index 9d15c8db..d84e4305 100644
--- a/rtabmap_demos/CMakeLists.txt
+++ b/rtabmap_demos/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(rtabmap_demos)
 
 find_package(catkin REQUIRED COMPONENTS
-              rtabmap_conversions rtabmap_msgs
+              rtabmap_conversions rtabmap_msgs visualization_msgs
 )
 
 # Optional components
@@ -14,7 +14,7 @@ IF(find_object_2d_FOUND)
 ENDIF(find_object_2d_FOUND)
 
 catkin_package(
-  CATKIN_DEPENDS rtabmap_conversions rtabmap_msgs ${optional_dependencies}
+  CATKIN_DEPENDS rtabmap_conversions rtabmap_msgs visualization_msgs ${optional_dependencies}
 )
 
 include_directories(${catkin_INCLUDE_DIRS})
diff --git a/rtabmap_demos/package.xml b/rtabmap_demos/package.xml
index 7f785a2b..020559ac 100644
--- a/rtabmap_demos/package.xml
+++ b/rtabmap_demos/package.xml
@@ -14,6 +14,7 @@
   <depend>find_object_2d</depend>
   <depend>rtabmap_conversions</depend>
   <depend>rtabmap_msgs</depend>
+  <depend>visualization_msgs</depend>
 
   <exec_depend>rtabmap_costmap_plugins</exec_depend>
   <exec_depend>rtabmap_launch</exec_depend>