diff --git a/franka_bringup/package.xml b/franka_bringup/package.xml
index 0c236238..1696a80f 100644
--- a/franka_bringup/package.xml
+++ b/franka_bringup/package.xml
@@ -16,6 +16,7 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
 
diff --git a/franka_moveit_config/package.xml b/franka_moveit_config/package.xml
index 300d7f0e..f6d2e54b 100644
--- a/franka_moveit_config/package.xml
+++ b/franka_moveit_config/package.xml
@@ -15,6 +15,7 @@
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_kinematics</exec_depend>