diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8cd3b8e..664c3f7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,11 +8,12 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   graph_msgs
   interactive_markers
-  shape_msgs
+  pluginlib
   roscpp
   roslint
   rostest
   rviz
+  shape_msgs
   sensor_msgs
   std_msgs
   tf2_eigen
diff --git a/package.xml b/package.xml
index 43dc6b5..6c97d18 100644
--- a/package.xml
+++ b/package.xml
@@ -32,6 +32,7 @@
   <depend>eigen_stl_containers</depend>
   <depend>libogre-dev</depend>
   <depend>interactive_markers</depend>
+  <depend>pluginlib</depend>
 
   <!-- Something changed in ROS Lunar / Ubuntu Zesty that requires extra QT5 dependency-->
   <!-- I suspect this depend is more than needed, but was the only dependency available -->