diff --git a/cartographer_ros_msgs/CMakeLists.txt b/cartographer_ros_msgs/CMakeLists.txt
index 0207a9a..6c0f00b 100644
--- a/cartographer_ros_msgs/CMakeLists.txt
+++ b/cartographer_ros_msgs/CMakeLists.txt
@@ -51,4 +51,5 @@ generate_messages(
 catkin_package(
   CATKIN_DEPENDS
     ${PACKAGE_DEPENDENCIES}
+    message_runtime
 )
diff --git a/cartographer_ros_msgs/package.xml b/cartographer_ros_msgs/package.xml
index ecf18c6..9503545 100644
--- a/cartographer_ros_msgs/package.xml
+++ b/cartographer_ros_msgs/package.xml
@@ -33,4 +33,6 @@
   <depend>geometry_msgs</depend>
 
   <build_depend>message_generation</build_depend>
+  
+  <exec_depend>message_runtime</exec_depend>
 </package>