diff --git a/package.xml b/package.xml
index dddafda7b44fe3a9f8fde9003f640c4de0148649..d1698f326d7e0fe453692f6cd9c15755b8e4c334 100644
--- a/package.xml
+++ b/package.xml
@@ -20,7 +20,9 @@
   <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
   <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-scipy</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-scipy</depend>
   <depend>eigen</depend>
   <depend>boost</depend>