diff --git a/mofpy_demo/package.xml b/mofpy_demo/package.xml
index d939114..d29c8e7 100644
--- a/mofpy_demo/package.xml
+++ b/mofpy_demo/package.xml
@@ -10,6 +10,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>mofpy</exec_depend>
+  <exec_depend>moveit_core</exec_depend>
+  <exec_depend>moveit_ros_planning</exec_depend>
+  <exec_depend>moveit_resources_panda_moveit_config</exec_depend>
+  <exec_depend>moveit_configs_utils</exec_depend>
+  <exec_depend>moveit_servo</exec_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>