diff --git a/franka_hw/package.xml b/franka_hw/package.xml
index 74195a9f26d509b31d490a2b4aecae368937a17c..d86c12d0b008ac658cd887470119058dd83b5427 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>