diff --git a/lbr_fri_ros2/package.xml b/lbr_fri_ros2/package.xml
index 545f2638..1ea4cae4 100644
--- a/lbr_fri_ros2/package.xml
+++ b/lbr_fri_ros2/package.xml
@@ -10,6 +10,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>control_toolbox</depend>
   <depend>fri</depend>
   <depend>lbr_fri_msgs</depend>
   <depend>rclcpp</depend>