diff --git a/builder/image-ros.sh b/builder/image-ros.sh
index 02dfdecc6..04d58b959 100755
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -140,7 +140,8 @@ my_travis_retry apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-cmake-modules \
     ros-${ROS_DISTRO}-image-view \
     ros-${ROS_DISTRO}-nodelet-topic-tools \
-    ros-${ROS_DISTRO}-stereo-msgs
+    ros-${ROS_DISTRO}-stereo-msgs \
+    ros-${ROS_DISTRO}-vision-msgs
 
 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \
diff --git a/builder/test/tests.py b/builder/test/tests.py
index 2af206016..48da14510 100755
--- a/builder/test/tests.py
+++ b/builder/test/tests.py
@@ -6,6 +6,9 @@
 import rospy
 from geometry_msgs.msg import PoseStamped
 from sensor_msgs.msg import Range, BatteryState
+from vision_msgs.msg import BoundingBox2D, BoundingBox2DArray, BoundingBox3D, BoundingBox3DArray, \
+    Classification2D, Classification3D, Detection2D, Detection2DArray, Detection3D, Detection3DArray, \
+    ObjectHypothesis, ObjectHypothesisWithPose, VisionInfo
 
 import cv2
 import cv2.aruco
diff --git a/builder/test/tests.sh b/builder/test/tests.sh
index 16853f65f..22c1f5fb5 100755
--- a/builder/test/tests.sh
+++ b/builder/test/tests.sh
@@ -61,6 +61,7 @@ rosversion web_video_server
 rosversion nodelet
 rosversion image_view
 rosversion stereo_msgs
+rosversion vision_msgs
 
 [[ $(rosversion ws281x) == "0.0.13" ]]