diff --git a/rbs_mill_assist/package.xml b/rbs_mill_assist/package.xml
index 7a2dca6..4f96f19 100644
--- a/rbs_mill_assist/package.xml
+++ b/rbs_mill_assist/package.xml
@@ -20,6 +20,7 @@
   <depend>cartesian_motion_controller</depend>
   <depend>cartesian_twist_controller</depend>
   <depend>rbs_bt_executor</depend>
+  <depend>pinocchio</depend>
 
 
   <test_depend>ament_lint_auto</test_depend>