diff --git a/src/sherpa/package.xml b/src/sherpa/package.xml
index 5bc1a51..2f9d935 100644
--- a/src/sherpa/package.xml
+++ b/src/sherpa/package.xml
@@ -12,6 +12,25 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <depend>xacro</depend>
+
+  <!-- Dependencies for the robot control system -->
+  <depend>rclcpp</depend>
+  <depend>ros2_control</depend>
+  <depend>controller_manager</depend>
+  <depend>hardware_interface</depend>
+
+  <!-- Dependencies for gazebo -->
+  <depend>gazebo_ros2_control</depend>
+  <depend>gazebo_msgs</depend>
+  <depend>ros_gz_bridge</depend>
+
+  <!-- Dependencies for slam -->
+  <depend>velodyne_driver</depend>
+  <depend>velodyne_pointcloud</depend>
+  <depend>witmotion_ros</depend>
+  <depend>fast_lio</depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>