diff --git a/rviz_marker_tools/CMakeLists.txt b/rviz_marker_tools/CMakeLists.txt
index eb2c57032..08f6be613 100644
--- a/rviz_marker_tools/CMakeLists.txt
+++ b/rviz_marker_tools/CMakeLists.txt
@@ -7,6 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
 	roscpp
 	tf2_eigen
 )
+find_package(urdfdom REQUIRED)
 
 catkin_package(
 	LIBRARIES
@@ -17,6 +18,8 @@ catkin_package(
 		geometry_msgs
 		visualization_msgs
 		roscpp
+	DEPENDS
+		urdfdom
 )
 
 set(PROJECT_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME})
diff --git a/rviz_marker_tools/package.xml b/rviz_marker_tools/package.xml
index ce77d9aa3..652563746 100644
--- a/rviz_marker_tools/package.xml
+++ b/rviz_marker_tools/package.xml
@@ -13,4 +13,5 @@
 	<depend>geometry_msgs</depend>
 	<depend>roscpp</depend>
 	<depend>tf2_eigen</depend>
+	<depend>liburdfdom-dev</depend>
 </package>