diff --git a/example_12/package.xml b/example_12/package.xml
index e9d97a8a5..d14418cd9 100644
--- a/example_12/package.xml
+++ b/example_12/package.xml
@@ -29,6 +29,7 @@
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>ros2_control_demo_description</exec_depend>
   <exec_depend>ros2_controllers_test_nodes</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>
   <exec_depend>rviz2</exec_depend>