diff --git a/rtabmap_slam/package.xml b/rtabmap_slam/package.xml
index ed6d9271..053e5840 100644
--- a/rtabmap_slam/package.xml
+++ b/rtabmap_slam/package.xml
@@ -24,6 +24,7 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>visualization_msgs</depend>
+  <depend>apriltag_msgs</depend>
   
   <depend>rtabmap_msgs</depend>
   <depend>rtabmap_util</depend>