diff --git a/package.xml b/package.xml
index 2dd27ad2eaf83afd35829ccfec3f32541e2c58cd..e8c4fa8e892b98f88e492fb179913602098123db 100644
--- a/package.xml
+++ b/package.xml
@@ -13,6 +13,8 @@
   <test_depend>python3-pytest</test_depend>
 
   <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
   <exec_depend>python3-numpy</exec_depend>
   <exec_depend>rclpy</exec_depend>
 
diff --git a/setup.py b/setup.py
index 4ba1f90b5060eba3038f3359612a1c6f870f0642..9ccd732bb500e410e00976d062c218fc9eb473cf 100644
--- a/setup.py
+++ b/setup.py
@@ -11,7 +11,8 @@ setup(
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
     ],
-    install_requires=['setuptools'],
+    install_requires=['setuptools',
+                      'Pillow'],
     zip_safe=True,
     maintainer='root',
     maintainer_email='simon.wittl@th-deg.de',