diff --git a/unitree_legged_msgs/CMakeLists.txt b/unitree_legged_msgs/CMakeLists.txt
index 86b1d1a..b2407b2 100644
--- a/unitree_legged_msgs/CMakeLists.txt
+++ b/unitree_legged_msgs/CMakeLists.txt
@@ -31,6 +31,7 @@ generate_messages(
   std_msgs
   geometry_msgs
   sensor_msgs
+        roscpp
 )
 
 catkin_package(
@@ -38,7 +39,10 @@ catkin_package(
   message_runtime
   std_msgs
   geometry_msgs
-  sensor_msgs 
+  sensor_msgs
+        cpp_common
+        roscpp
+
 )
 
 #############
diff --git a/unitree_legged_msgs/package.xml b/unitree_legged_msgs/package.xml
index a0a1d19..548cf96 100644
--- a/unitree_legged_msgs/package.xml
+++ b/unitree_legged_msgs/package.xml
@@ -14,6 +14,8 @@
   <depend>message_generation</depend>
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>cpp_common</depend>
+  <depend>roscpp</depend>
   <depend>sensor_msgs</depend>
-  
+
 </package>
\ No newline at end of file