diff --git a/rtabmap/manifest.xml b/rtabmap/manifest.xml
index 0a7a1777..c8e3ff13 100644
--- a/rtabmap/manifest.xml
+++ b/rtabmap/manifest.xml
@@ -18,6 +18,7 @@
   <depend package="tf"/>
   <depend package="rtabmap_lib"/>
   <depend package="cv_bridge"/>
+  <depend package="uimage"/> <!-- from utilite stack -->
 </package>