diff --git a/homer_nav_libs/CMakeLists.txt b/homer_nav_libs/CMakeLists.txt
index 9d4962b2ea7715ece1475f65d870258114a572fe..c9b10b4a7a00d8e97041cf80fba0a9c37cb3b20d 100644
--- a/homer_nav_libs/CMakeLists.txt
+++ b/homer_nav_libs/CMakeLists.txt
@@ -7,6 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   geometry_msgs
   sensor_msgs
+  nav_msgs
   tf
   cmake_modules
 )
diff --git a/homer_nav_libs/package.xml b/homer_nav_libs/package.xml
index 8794401787f5eb74334ffe03e3f8bb334213b5e7..dab6b98cee1d9fea569e07627a35a3679a57f8c0 100644
--- a/homer_nav_libs/package.xml
+++ b/homer_nav_libs/package.xml
@@ -14,7 +14,9 @@
   <build_depend>tf</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>eigen</build_depend>
+  <build_depend>nav_msgs</build_depend>
 
+  <run_depend>nav_msgs</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>tf</run_depend>