diff --git a/package.xml b/package.xml
index 089770fe..8a1a21af 100644
--- a/package.xml
+++ b/package.xml
@@ -44,6 +44,7 @@
   <build_depend>octomap</build_depend>
   <build_depend>image_geometry</build_depend>
   <build_depend>pluginlib</build_depend>
+  <build_depend>rviz_common</build_depend>
 
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>rclcpp</exec_depend>
@@ -72,6 +73,7 @@
   <exec_depend>image_geometry</exec_depend>
   <exec_depend>find_object_2d</exec_depend>
   <exec_depend>pluginlib</exec_depend>
+  <exec_depend>rviz_common</exec_depend>
 
   <build_depend>libpcl-all-dev</build_depend>