diff --git a/rtabmap_legacy/package.xml b/rtabmap_legacy/package.xml
index 32fb3f6e..e34ed242 100644
--- a/rtabmap_legacy/package.xml
+++ b/rtabmap_legacy/package.xml
@@ -30,6 +30,7 @@
   <exec_depend>rtabmap_odom</exec_depend>
   <exec_depend>rtabmap_slam</exec_depend>
   <exec_depend>rtabmap_viz</exec_depend>
+  <exec_depend>rtabmap_util</exec_depend>
   
   <export>
     <nodelet plugin="${prefix}/nodelet_plugins.xml" />