diff --git a/CMakeLists.txt b/CMakeLists.txt
index 04fc5cd..382753b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,8 @@ find_package(catkin REQUIRED
     std_srvs
     tf
     pal_multirobot_msgs
-    roscpp)
+    roscpp
+    control_toolbox)
 
 # Depend on system install of Gazebo and SDFormat
 find_package(gazebo REQUIRED)
@@ -30,6 +31,7 @@ catkin_package(
     tf
     pal_multirobot_msgs
     roscpp
+    control_toolbox
   DEPENDS gazebo)
 
 link_directories(${GAZEBO_LIBRARY_DIRS})
diff --git a/package.xml b/package.xml
index ab1e04d..a80be11 100644
--- a/package.xml
+++ b/package.xml
@@ -23,6 +23,7 @@
   <build_depend>std_srvs</build_depend>
   <build_depend>pal_multirobot_msgs</build_depend>
   <build_depend>tf</build_depend>
+  <build_depend>control_toolbox</build_depend>
 
   <run_depend>gazebo</run_depend>
   <run_depend>roscpp</run_depend>
@@ -30,5 +31,6 @@
   <run_depend>std_srvs</run_depend>
   <run_depend>pal_multirobot_msgs</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>control_toolbox</run_depend>
 
 </package>