diff --git a/homer_navigation/CMakeLists.txt b/homer_navigation/CMakeLists.txt
index f68d5b3b61b50bd374ce7a033dfacfa9497d6aff..0d5bda2ddbb6e746e60c794acf7e937b5a698917 100644
--- a/homer_navigation/CMakeLists.txt
+++ b/homer_navigation/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   homer_nav_libs
   tf
   cmake_modules
+  homer_ptu_msgs
 )
 
 find_package(Eigen3 REQUIRED)
diff --git a/homer_navigation/package.xml b/homer_navigation/package.xml
index 3c9c863727659d1d1d6ed18a1f1d272eb9202334..38e4f23dcefaf7bf7b7cfd94c39740d2afe92c48 100644
--- a/homer_navigation/package.xml
+++ b/homer_navigation/package.xml
@@ -22,6 +22,7 @@
   <build_depend>tf</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>eigen</build_depend>
+  <build_depend>homer_ptu_msgs</build_depend>
   
   <run_depend>roscpp</run_depend>
   <run_depend>roslib</run_depend>
@@ -32,5 +33,7 @@
   <run_depend>homer_mapnav_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>eigen</run_depend>
+  <run_depend>homer_ptu_msgs</run_depend>
 
 </package>