diff --git a/package.xml b/package.xml
index 9b2850de6a66d1889e9169925983878d16fb2d5d..b984575ce309c79843fdb5757996cae9b959bd3a 100644
--- a/package.xml
+++ b/package.xml
@@ -21,7 +21,8 @@
   <depend>dynamic-graph</depend>
   <depend>roscpp</depend>
   <depend>boost</depend>
-  
+  <depend>eigenpy</depend>
+
   <buildtool_depend>cmake</buildtool_depend>
 
   <export>