diff --git a/jsk_topic_tools/CMakeLists.txt b/jsk_topic_tools/CMakeLists.txt
index 1888b884f..b32ae40ab 100644
--- a/jsk_topic_tools/CMakeLists.txt
+++ b/jsk_topic_tools/CMakeLists.txt
@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(jsk_topic_tools)
 
 find_package(catkin REQUIRED COMPONENTS topic_tools message_generation roscpp rostest std_msgs std_srvs
+  rostime
   nodelet tf
   geometry_msgs
   eigen_conversions
@@ -19,7 +20,7 @@ add_service_files(
 generate_messages()
 catkin_package(
     DEPENDS
-    CATKIN_DEPENDS topic_tools message_runtime nodelet std_msgs std_srvs
+    CATKIN_DEPENDS topic_tools message_runtime nodelet std_msgs std_srvs roscpp rostime
     INCLUDE_DIRS include
     LIBRARIES jsk_topic_tools
     CFG_EXTRAS nodelet.cmake
diff --git a/jsk_topic_tools/package.xml b/jsk_topic_tools/package.xml
index a9d1cd8de..769866b59 100644
--- a/jsk_topic_tools/package.xml
+++ b/jsk_topic_tools/package.xml
@@ -31,6 +31,8 @@
   <build_depend>tf</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>eigen_conversions</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rostime</build_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>std_srvs</run_depend>
   <run_depend>topic_tools</run_depend>
@@ -45,6 +47,8 @@
   <run_depend>tf</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>eigen_conversions</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rostime</run_depend>
   <export>
     <nodelet plugin="${prefix}/jsk_topic_tools_nodelet.xml"/>
   </export>