diff --git a/rtabmap_util/CMakeLists.txt b/rtabmap_util/CMakeLists.txt
index 8c12256e..e060af2f 100644
--- a/rtabmap_util/CMakeLists.txt
+++ b/rtabmap_util/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(rtabmap_util)
 
 find_package(catkin REQUIRED COMPONENTS
-             cv_bridge image_transport roscpp sensor_msgs std_msgs    
+             cv_bridge image_transport roscpp nav_msgs sensor_msgs std_msgs
              tf laser_geometry pcl_conversions pcl_ros nodelet message_filters
              pluginlib rtabmap_msgs rtabmap_conversions
 )
@@ -18,7 +18,7 @@ ENDIF(octomap_msgs_FOUND)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES rtabmap_util_plugins
-  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs    
+  CATKIN_DEPENDS cv_bridge image_transport roscpp nav_msgs sensor_msgs std_msgs
              tf laser_geometry pcl_conversions pcl_ros nodelet message_filters
              pluginlib rtabmap_msgs rtabmap_conversions ${optional_dependencies}
 )
diff --git a/rtabmap_util/package.xml b/rtabmap_util/package.xml
index b425e844..7e1a1380 100644
--- a/rtabmap_util/package.xml
+++ b/rtabmap_util/package.xml
@@ -14,6 +14,7 @@
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   <depend>roscpp</depend>
+  <depend>nav_msgs</depend>
   <depend>octomap_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>