diff --git a/auv_control/auv_controllers/CMakeLists.txt b/auv_control/auv_controllers/CMakeLists.txt
index ffb44846..2de499f5 100644
--- a/auv_control/auv_controllers/CMakeLists.txt
+++ b/auv_control/auv_controllers/CMakeLists.txt
@@ -7,6 +7,8 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   auv_common_lib
   pluginlib
+  angles
+  tf2
 )
 
 find_package(Eigen3 REQUIRED)
@@ -14,7 +16,7 @@ find_package(Eigen3 REQUIRED)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES auv_controllers
-#  CATKIN_DEPENDS roscpp
+  CATKIN_DEPENDS roscpp auv_common_lib pluginlib angles tf2
 #  DEPENDS system_lib
 )
 
diff --git a/auv_control/auv_controllers/package.xml b/auv_control/auv_controllers/package.xml
index 38e6a1ec..8d8dcc73 100644
--- a/auv_control/auv_controllers/package.xml
+++ b/auv_control/auv_controllers/package.xml
@@ -11,6 +11,9 @@
   <build_export_depend>roscpp</build_export_depend>
   <exec_depend>roscpp</exec_depend>
   <depend>auv_common_lib</depend>
+  <depend>pluginlib</depend>
+  <depend>angles</depend>
+  <depend>tf2</depend>
   <export>
     <auv_controllers plugin="${prefix}/controller_plugins.xml"/>
   </export>