diff --git a/package.xml b/package.xml
index 56aec88..b7067c0 100644
--- a/package.xml
+++ b/package.xml
@@ -11,12 +11,17 @@
   <depend>segway_msgs</depend>
 
   <exec_depend>ros2launch</exec_depend>
+  <exec_depend>joy</exec_depend>
+  <exec_depend>twist_mux</exec_depend>
+  <exec_depend>teleop_twist_joy</exec_depend>
+  <exec_depend>rmp220_middleware</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
+
   <export>
     <build_type>ament_python</build_type>
   </export>