diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index 019ef73c..3415887d 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -3,7 +3,7 @@ project(pcl_ros)
 
 # Deal with catkin
 find_package(Boost COMPONENTS system filesystem thread REQUIRED)
-find_package(catkin REQUIRED dynamic_reconfigure genmsg nodelet nodelet_topic_tools roscpp sensor_msgs std_msgs tf rosbag rosconsole roslib pluginlib)
+find_package(catkin REQUIRED dynamic_reconfigure genmsg nodelet nodelet_topic_tools pcl_conversions pcl_msgs roscpp sensor_msgs std_msgs tf rosbag rosconsole roslib pluginlib)
 find_package(Eigen)
 find_package(PCL)
 
diff --git a/pcl_ros/package.xml b/pcl_ros/package.xml
index 52e4725c..c87b9d0e 100644
--- a/pcl_ros/package.xml
+++ b/pcl_ros/package.xml
@@ -20,6 +20,8 @@
   <build_depend>nodelet</build_depend>
   <build_depend>nodelet_topic_tools</build_depend>
   <build_depend>pcl</build_depend>
+  <build_depend>pcl_conversions</build_depend>
+  <build_depend>pcl_msgs</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>rosbag</build_depend>
   <build_depend>roscpp</build_depend>
@@ -32,6 +34,8 @@
   <run_depend>nodelet</run_depend>
   <run_depend>nodelet_topic_tools</run_depend>
   <run_depend>pcl</run_depend>
+  <run_depend>pcl_conversions</run_depend>
+  <run_depend>pcl_msgs</run_depend>
   <run_depend>pluginlib</run_depend>
   <run_depend>rosbag</run_depend>
   <run_depend>roscpp</run_depend>