diff --git a/talos_controller_configuration/package.xml b/talos_controller_configuration/package.xml
index e3a7aef25eb7408ded4a76f7b2e7782e6d604a7e..54a11cee7eb73cff71da42fa805f0fa735f2cac1 100644
--- a/talos_controller_configuration/package.xml
+++ b/talos_controller_configuration/package.xml
@@ -15,9 +15,11 @@
   <run_depend>joint_trajectory_controller</run_depend>
   <run_depend>controller_manager</run_depend>
   <run_depend>joint_state_controller</run_depend>
+  <run_depend>walking_controller</run_depend>
   <run_depend>head_action</run_depend>
-  
+  <run_depend>pal_transmissions</run_depend>
+
   <export>
   </export>
-  
+
 </package>