diff --git a/franka_hw/package.xml b/franka_hw/package.xml
index 4654603b7e568537f61a64db663af534ef1f323a..2449436bdac6f6d265cd43036bd10198a494faf0 100644
--- a/franka_hw/package.xml
+++ b/franka_hw/package.xml
@@ -19,6 +19,7 @@
   <depend>joint_limits_interface</depend>
   <depend>roscpp</depend>
 
+  <test_depend>franka_description</test_depend>
   <test_depend>gtest</test_depend>
   <test_depend>rostest</test_depend>
 </package>