diff --git a/franka_moveit_config/package.xml b/franka_moveit_config/package.xml
index 47e84173..914d659d 100644
--- a/franka_moveit_config/package.xml
+++ b/franka_moveit_config/package.xml
@@ -23,6 +23,7 @@
   <exec_depend>moveit_ros_visualization</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
+  <exec_dependpilz_industrial_motion_planner</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>