diff --git a/CMakeLists.txt b/CMakeLists.txt
index 02e2339a582c714b2bb83df4fd8454d32ea5f866..956359b04c702fbfe28f644014efcbe2f7b84cac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(ament_cmake REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
+find_package(geometry_msgs REQUIRED)
 find_package(lrs_msgs_common REQUIRED)
 find_package(lrs_msgs_tst REQUIRED)
 
@@ -51,7 +52,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/TSTSignalTree.srv"
   "srv/TSTExpandTree.srv"
   "srv/TSTAddConstraintsToTree.srv"
-  DEPENDENCIES lrs_msgs_tst lrs_msgs_common builtin_interfaces
+  DEPENDENCIES lrs_msgs_tst lrs_msgs_common geometry_msgs builtin_interfaces
   ADD_LINTER_TESTS
  )
 
diff --git a/package.xml b/package.xml
index 6254a35e53874b7792e40fe57be3c741032d33ef..a0a61f949f61456fd210c1f239513eca1f86c0ff 100644
--- a/package.xml
+++ b/package.xml
@@ -15,6 +15,7 @@
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
 
+  <depend>geometry_msgs</depend>  
   <depend>lrs_msgs_common</depend>  
   <depend>lrs_msgs_tst</depend>