diff --git a/cmake/modules/FindGMock.cmake b/cmake/modules/FindGMock.cmake
index 76cea16..b29c0fe 100644
--- a/cmake/modules/FindGMock.cmake
+++ b/cmake/modules/FindGMock.cmake
@@ -77,6 +77,7 @@ if(NOT GMock_FOUND)
           EXCLUDE_FROM_ALL)
       endif()
       set(GMOCK_LIBRARIES gmock_main)
+      set(GMOCK_INCLUDE_DIRS ${GMOCK_SRC_DIR}/include)
     endif()
   endif()
 
diff --git a/package.xml b/package.xml
index 19c811c..2d4d317 100644
--- a/package.xml
+++ b/package.xml
@@ -38,9 +38,10 @@
 
   <build_depend>git</build_depend>
   <build_depend>google-mock</build_depend>
+  <build_depend>gtest</build_depend>
   <build_depend>python3-sphinx</build_depend>
 
-  <depend>boost</depend>
+  <depend>libboost-iostreams-dev</depend>
   <depend>eigen</depend>
   <depend>libcairo2-dev</depend>
   <depend>libceres-dev</depend>