diff --git a/irobot_create_common/irobot_create_description/package.xml b/irobot_create_common/irobot_create_description/package.xml
index 473aaa2e..24e5ffab 100644
--- a/irobot_create_common/irobot_create_description/package.xml
+++ b/irobot_create_common/irobot_create_description/package.xml
@@ -11,7 +11,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>irobot_create_control</exec_depend>
   <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_lint_cmake</test_depend>