diff --git a/mg_odometry/CMakeLists.txt b/mg_odometry/CMakeLists.txt
index 48da219..464acae 100644
--- a/mg_odometry/CMakeLists.txt
+++ b/mg_odometry/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(rclcpp REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
+find_package(mg_msgs REQUIRED)
 include(FindPkgConfig)
 pkg_search_module(LIBSERIAL REQUIRED libserial)
 
diff --git a/mg_odometry/package.xml b/mg_odometry/package.xml
index aca3299..ff8c045 100644
--- a/mg_odometry/package.xml
+++ b/mg_odometry/package.xml
@@ -15,6 +15,8 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>libserial-dev</depend>
 
+  <depend>mg_msgs</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>