diff --git a/kortex_driver/package.xml b/kortex_driver/package.xml
index fe4eb714..7599628b 100644
--- a/kortex_driver/package.xml
+++ b/kortex_driver/package.xml
@@ -30,6 +30,13 @@
   <build_depend>message_generation</build_depend>
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>message_generation</exec_depend>
+  <exec_depend>gen3_move_it_config</exec_depend>
+  <exec_depend>gen3_robotiq_2f_85_move_it_config</exec_depend>
+  <exec_depend>gen3_robotiq_2f_140_move_it_config</exec_depend>
+  <exec_depend>gen3_lite_gen3_lite_2f_move_it_config</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>rostest</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/kortex_gazebo/launch/spawn_kortex_robot.launch b/kortex_gazebo/launch/spawn_kortex_robot.launch
index aa911ddd..fc03cdbe 100644
--- a/kortex_gazebo/launch/spawn_kortex_robot.launch
+++ b/kortex_gazebo/launch/spawn_kortex_robot.launch
@@ -29,7 +29,7 @@
     <arg name="use_sim_time" default="true"/>
     <arg name="debug" default="false" />
     <arg name="paused" default="true"/>
-    
+
     <!-- Start Gazebo -->
     <include file="$(find kortex_gazebo)/launch/start_gazebo.launch" if="$(arg start_gazebo)">
             <arg name="gui" value="$(arg gazebo_gui)"/>
diff --git a/kortex_gazebo/package.xml b/kortex_gazebo/package.xml
index 850ac4da..92a2d244 100644
--- a/kortex_gazebo/package.xml
+++ b/kortex_gazebo/package.xml
@@ -10,6 +10,7 @@
   <license>BSD</license>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roslaunch</build_depend>
+  <run_depend>kortex_control</run_depend>
   <run_depend>kortex_driver</run_depend>
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>rviz</run_depend>