diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
index 60116f2b0a..76969bd582 100644
--- a/joint_trajectory_controller/CMakeLists.txt
+++ b/joint_trajectory_controller/CMakeLists.txt
@@ -16,6 +16,8 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     rclcpp
     rclcpp_lifecycle
     realtime_tools
+    rsl
+    tl_expected
     trajectory_msgs
 )
 
diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
index 8a0c9840dd..bce044e3e9 100644
--- a/joint_trajectory_controller/package.xml
+++ b/joint_trajectory_controller/package.xml
@@ -23,11 +23,13 @@
   <depend>controller_interface</depend>
   <depend>control_msgs</depend>
   <depend>control_toolbox</depend>
+  <depend>generate_parameter_library</depend>
   <depend>hardware_interface</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>rsl</depend>
+  <depend>tl_expected</depend>
   <depend>trajectory_msgs</depend>
-  <depend>generate_parameter_library</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>