diff --git a/homer_nav_libs/CMakeLists.txt b/homer_nav_libs/CMakeLists.txt
index c9b10b4a7a00d8e97041cf80fba0a9c37cb3b20d..f572e1692ec22285570093d073a07cd348b0aee6 100644
--- a/homer_nav_libs/CMakeLists.txt
+++ b/homer_nav_libs/CMakeLists.txt
@@ -17,7 +17,7 @@ find_package(Eigen3 REQUIRED)
 catkin_package(
 	INCLUDE_DIRS include
 	LIBRARIES homerExplorer homerMappingMath
-	CATKIN_DEPENDS  roscpp geometry_msgs tf
+	CATKIN_DEPENDS  roscpp geometry_msgs tf sensor_msgs nav_msgs
 )
 
 
diff --git a/homer_nav_libs/package.xml b/homer_nav_libs/package.xml
index dab6b98cee1d9fea569e07627a35a3679a57f8c0..7e1eb994591896dbb462032c7dbe79c6a0488c02 100644
--- a/homer_nav_libs/package.xml
+++ b/homer_nav_libs/package.xml
@@ -15,7 +15,9 @@
   <build_depend>cmake_modules</build_depend>
   <build_depend>eigen</build_depend>
   <build_depend>nav_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
 
+  <run_depend>sensor_msgs</run_depend>
   <run_depend>nav_msgs</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>geometry_msgs</run_depend>