diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml
index 0b97d6bb0c..21eb31f6df 100644
--- a/ros2_controllers_test_nodes/package.xml
+++ b/ros2_controllers_test_nodes/package.xml
@@ -17,6 +17,7 @@
   <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
 
   <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>trajectory_msgs</depend>