diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index d13cb594b3..a97f171dd0 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -212,6 +212,7 @@ if(BUILD_TESTING)
   )
   target_link_libraries(test_hardware_spawner
     controller_manager
+    test_controller
     ros2_control_test_assets::ros2_control_test_assets
   )