diff --git a/mimic_joint_controller/CMakeLists.txt b/mimic_joint_controller/CMakeLists.txt
index 8ad3faf0..fa699376 100644
--- a/mimic_joint_controller/CMakeLists.txt
+++ b/mimic_joint_controller/CMakeLists.txt
@@ -3,7 +3,8 @@ project(mimic_joint_controller)
 
 find_package(catkin REQUIRED COMPONENTS
         roscpp
-
+        effort_controllers
+        hardware_interface
         pluginlib
         controller_interface
         )
@@ -13,7 +14,8 @@ catkin_package(
         include
         CATKIN_DEPENDS
         roscpp
-
+        effort_controllers
+        hardware_interface
         pluginlib
         controller_interface
         LIBRARIES ${PROJECT_NAME}
diff --git a/mimic_joint_controller/package.xml b/mimic_joint_controller/package.xml
index 141dd696..d598d198 100644
--- a/mimic_joint_controller/package.xml
+++ b/mimic_joint_controller/package.xml
@@ -12,6 +12,8 @@
   <depend>pluginlib</depend>
   <depend>roscpp</depend>
   <depend>controller_interface</depend>
+  <depend>effort_controllers</depend>
+  <depend>hardware_interface</depend>
 
   <export>
     <controller_interface plugin="${prefix}/mimic_joint_controller_plugins.xml"/>