diff --git a/package.xml b/package.xml
index 2bbc623..24ca05b 100644
--- a/package.xml
+++ b/package.xml
@@ -2,13 +2,24 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rbs_mill_assist</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <version>0.0.1</version>
+  <description>Example Robossembler ROS2 project for milling machine assistance</description>
   <maintainer email="ur.narmak@gmail.com">narenmak</maintainer>
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>rbs_bringup</depend>
+  <depend>rbs_arm</depend>
+  <depend>cartesian_compliance_controller</depend>
+  <depend>cartesian_controller_base</depend>
+  <depend>cartesian_controller_handles</depend>
+  <depend>cartesian_controller_utilities</depend>
+  <depend>cartesian_force_controller</depend>
+  <depend>cartesian_motion_controller</depend>
+  <depend>cartesian_twist_controller</depend>
+
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>