diff --git a/ur_rtde_driver/package.xml b/ur_rtde_driver/package.xml
index 4d47acb..f9ae0b2 100644
--- a/ur_rtde_driver/package.xml
+++ b/ur_rtde_driver/package.xml
@@ -39,6 +39,7 @@
   <exec_depend>joint_state_controller</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>socat</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_controllers</exec_depend>