diff --git a/action_msgs/package.xml b/action_msgs/package.xml
index 4a0873b7..6ac19186 100644
--- a/action_msgs/package.xml
+++ b/action_msgs/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>rosidl_core_generators</buildtool_depend>
 
   <depend>builtin_interfaces</depend>
+  <depend>service_msgs</depend>
   <depend>unique_identifier_msgs</depend>
 
   <exec_depend>rosidl_core_runtime</exec_depend>