diff --git a/dwa_local_planner/CMakeLists.txt b/dwa_local_planner/CMakeLists.txt
index 909a17732e..94402f4f06 100644
--- a/dwa_local_planner/CMakeLists.txt
+++ b/dwa_local_planner/CMakeLists.txt
@@ -3,6 +3,7 @@ project(dwa_local_planner)
 
 find_package(catkin REQUIRED
         COMPONENTS
+            angles
             base_local_planner
             cmake_modules
             costmap_2d
@@ -10,7 +11,10 @@ find_package(catkin REQUIRED
             nav_core
             nav_msgs
             pluginlib
+            sensor_msgs
             roscpp
+            tf2
+            tf2_geometry_msgs
             tf2_ros
         )
 
@@ -32,10 +36,14 @@ catkin_package(
     INCLUDE_DIRS include
     LIBRARIES dwa_local_planner
     CATKIN_DEPENDS
+        base_local_planner
         dynamic_reconfigure
         nav_msgs
         pluginlib
+        sensor_msgs
         roscpp
+        tf2
+        tf2_ros
 )
 
 add_library(dwa_local_planner src/dwa_planner.cpp src/dwa_planner_ros.cpp)
diff --git a/dwa_local_planner/package.xml b/dwa_local_planner/package.xml
index a06781c086..34466c51f2 100644
--- a/dwa_local_planner/package.xml
+++ b/dwa_local_planner/package.xml
@@ -25,6 +25,7 @@
 
     <buildtool_depend>catkin</buildtool_depend>
 
+    <build_depend>angles</build_depend>
     <build_depend>cmake_modules</build_depend>
 
     <depend>base_local_planner</depend>
@@ -34,7 +35,10 @@
     <depend>nav_core</depend>
     <depend>nav_msgs</depend>
     <depend>pluginlib</depend>
+    <depend>sensor_msgs</depend>
     <depend>roscpp</depend>
+    <depend>tf2</depend>
+    <depend>tf2_geometry_msgs</depend>
     <depend>tf2_ros</depend>
 
     <export>