diff --git a/CMakeLists.txt b/CMakeLists.txt
index 013104c..fd7d319 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@ elseif(${ROS_VERSION} EQUAL "2")
   message(STATUS "Compiling with ROS2 COLCON")
   find_package(ament_cmake REQUIRED)
   find_package(geometry_msgs REQUIRED)
+  find_package(sensor_msgs REQUIRED)
   find_package(nav_msgs REQUIRED)
   find_package(std_msgs REQUIRED)
   find_package(rosidl_default_generators REQUIRED)
@@ -49,7 +50,7 @@ elseif(${ROS_VERSION} EQUAL "2")
     "srv/ObjectDetectionSrv.srv"
     "srv/SocialPipsSrv.srv"
     "action/TurtlebotDock.action"
-    DEPENDENCIES geometry_msgs nav_msgs std_msgs
+    DEPENDENCIES sensor_msgs geometry_msgs nav_msgs std_msgs
   )
 
   ament_package()
diff --git a/package.xml b/package.xml
index 67e674b..2370b4d 100644
--- a/package.xml
+++ b/package.xml
@@ -12,6 +12,7 @@
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
   <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
 
   <build_depend>rosidl_default_generators</build_depend>