diff --git a/ur_rtde_driver/CMakeLists.txt b/ur_rtde_driver/CMakeLists.txt
index 6032624..206d995 100644
--- a/ur_rtde_driver/CMakeLists.txt
+++ b/ur_rtde_driver/CMakeLists.txt
@@ -24,6 +24,7 @@ find_package(catkin REQUIRED
     tf2_msgs
     trajectory_msgs
     ur_controllers
+    ur_msgs
 )
 find_package(Boost REQUIRED)
 
@@ -46,6 +47,7 @@ catkin_package(
     tf2_msgs
     trajectory_msgs
     ur_controllers
+    ur_msgs
     std_srvs
   DEPENDS
     Boost
diff --git a/ur_rtde_driver/package.xml b/ur_rtde_driver/package.xml
index bd5f7ce..bc9a207 100644
--- a/ur_rtde_driver/package.xml
+++ b/ur_rtde_driver/package.xml
@@ -33,6 +33,7 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>trajectory_msgs</depend>
   <depend>ur_controllers</depend>
+  <depend>ur_msgs</depend>
   <depend>std_srvs</depend>
 
   <exec_depend>force_torque_sensor_controller</exec_depend>