diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index e25d256..330638a 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -8,7 +8,7 @@ on:
 
   # Triggered whenever a pull request is created on master
   pull_request:
-    branches: ["main"]
+    branches: ["master"]
     types: [opened]
 
 
diff --git a/package.xml b/package.xml
index 8bd520a..35a60e3 100644
--- a/package.xml
+++ b/package.xml
@@ -13,10 +13,17 @@
 
   <build_depend>xacro</build_depend>
 
+  
   <depend>gazebo_ros_pkgs</depend>
-  <depend>robot_state_publisher</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rosbag2_cpp</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
+  <depend>ros2_control</depend>
+  <depend>robot_state_publisher</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>