diff --git a/package.xml b/package.xml
index 79ba33965b74201c05ea39ded1e18cce46245d40..2fe021eeaedf37db86c57a2b01898011ec5e1cc1 100644
--- a/package.xml
+++ b/package.xml
@@ -36,7 +36,7 @@
   <!-- CUSTOM -->
   <depend>moveit_core</depend>
   <depend>moveit_ros_planning_interface</depend>
-  <depend>moveit_perception</depend>
+  <depend>moveit_ros_perception</depend>
   <depend>moveit_visual_tools</depend>
 
   <!-- The export tag contains other, unspecified, tags -->