diff --git a/twist_controller/CMakeLists.txt b/twist_controller/CMakeLists.txt
index 4edf629..a3956b5 100644
--- a/twist_controller/CMakeLists.txt
+++ b/twist_controller/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
   hardware_interface
   realtime_tools
   roscpp
+  pluginlib
 )
 
 ## System dependencies are found with CMake's conventions
@@ -115,6 +116,7 @@ catkin_package(
     hardware_interface
     realtime_tools
     roscpp
+    pluginlib
   #DEPENDS system_lib
 )
 
diff --git a/twist_controller/package.xml b/twist_controller/package.xml
index 6e03835..547c7b7 100644
--- a/twist_controller/package.xml
+++ b/twist_controller/package.xml
@@ -29,7 +29,9 @@
   <depend>roscpp</depend>
 
   <build_depend>controller_interface</build_depend>
+  <build_depend>pluginlib</build_depend>
   <exec_depend>controller_interface</exec_depend>
+  <exec_depend>pluginlib</exec_depend>
   <build_export_depend>controller_interface</build_export_depend>
 
   <export>