diff --git a/gazebo_ros2_control_demos/package.xml b/gazebo_ros2_control_demos/package.xml
index ec9f27e3..68c79824 100644
--- a/gazebo_ros2_control_demos/package.xml
+++ b/gazebo_ros2_control_demos/package.xml
@@ -31,6 +31,7 @@
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>ros2_controllers</exec_depend>
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>velocity_controllers</exec_depend>