diff --git a/perception_pcl/package.xml b/perception_pcl/package.xml
index 573265f3..49b7ded2 100644
--- a/perception_pcl/package.xml
+++ b/perception_pcl/package.xml
@@ -23,7 +23,7 @@
   <run_depend>pcl_conversions</run_depend>
   <run_depend>pcl_msgs</run_depend>
   <run_depend>pcl_ros</run_depend>
-
+  <run_depend>pointcloud_to_laserscan</run_depend>
   <export>
     <metapackage/>
   </export>
diff --git a/pointcloud_to_laserscan/package.xml b/pointcloud_to_laserscan/package.xml
index bba350b0..84af2eae 100644
--- a/pointcloud_to_laserscan/package.xml
+++ b/pointcloud_to_laserscan/package.xml
@@ -8,6 +8,10 @@
     <author>Tully Foote</author>
 
     <license>BSD</license>
+    
+    <url type="website">http://ros.org/wiki/perception_pcl</url>
+    <url type="bugtracker">https://github.com/ros-perception/perception_pcl/issues</url>
+    <url type="repository">https://github.com/ros-perception/perception_pcl</url>
 
     <buildtool_depend>catkin</buildtool_depend>
     <build_depend>dynamic_reconfigure</build_depend>