diff --git a/CMakeLists.txt b/CMakeLists.txt
index fe5ba3ca..44b1343d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -43,6 +43,7 @@ elseif( DEFINED ENV{AMENT_PREFIX_PATH})
     find_package(sensor_msgs REQUIRED)
     find_package(geometry_msgs REQUIRED)
     find_package(nav_msgs REQUIRED)
+    find_package(diagnostic_msgs REQUIRED)
     find_package(fastcdr REQUIRED)
     find_package(Boost REQUIRED)
     find_package(plotjuggler_msgs REQUIRED)
diff --git a/plugins/CMakeLists.txt b/plugins/CMakeLists.txt
index 4e0a22b4..ba7df994 100644
--- a/plugins/CMakeLists.txt
+++ b/plugins/CMakeLists.txt
@@ -90,6 +90,7 @@ elseif(COMPILING_WITH_AMENT)
         sensor_msgs
         geometry_msgs
         nav_msgs
+        diagnostic_msgs
         plotjuggler_msgs
         tf2_msgs
         tf2_ros