diff --git a/capabilities/package.xml b/capabilities/package.xml
index 925d26ea..b2fcb7e1 100644
--- a/capabilities/package.xml
+++ b/capabilities/package.xml
@@ -27,6 +27,7 @@
launch_testing
launch_testing_ament_cmake
moveit_resources_panda_moveit_config
+ controller_manager
ament_cmake
diff --git a/demo/package.xml b/demo/package.xml
index f2ccdfda..66d0196d 100644
--- a/demo/package.xml
+++ b/demo/package.xml
@@ -16,8 +16,9 @@
moveit_core
moveit_ros_planning_interface
moveit_task_constructor_core
- moveit_configs_utils
+ controller_manager
+ moveit_configs_utils
moveit_task_constructor_capabilities
moveit_task_constructor_visualization
moveit_resources_panda_moveit_config