diff --git a/abb_bringup/package.xml b/abb_bringup/package.xml
index 37d0612..c5a4d12 100644
--- a/abb_bringup/package.xml
+++ b/abb_bringup/package.xml
@@ -29,6 +29,10 @@
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
+  <exec_depend>moveit_planners</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
   <exec_depend>ros2_control</exec_depend>
   <exec_depend>ros2_controllers</exec_depend>
   <exec_depend>rviz2</exec_depend>
diff --git a/robot_specific_config/abb_irb1200_support/package.xml b/robot_specific_config/abb_irb1200_support/package.xml
index 32e251c..d315b4e 100644
--- a/robot_specific_config/abb_irb1200_support/package.xml
+++ b/robot_specific_config/abb_irb1200_support/package.xml
@@ -48,6 +48,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+
   <export>
       <build_type>ament_cmake</build_type>
     <!-- <architecture_independent/> -->
diff --git a/robot_specific_config/abb_irb4600_support/package.xml b/robot_specific_config/abb_irb4600_support/package.xml
index 54788af..d03e639 100644
--- a/robot_specific_config/abb_irb4600_support/package.xml
+++ b/robot_specific_config/abb_irb4600_support/package.xml
@@ -36,6 +36,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>