diff --git a/mg_odometry/CMakeLists.txt b/mg_odometry/CMakeLists.txt
index 464acae..fdf9446 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(std_srvs REQUIRED)
 find_package(mg_msgs REQUIRED)
 include(FindPkgConfig)
 pkg_search_module(LIBSERIAL REQUIRED libserial)
@@ -24,6 +25,8 @@ add_executable(mg_odom_publisher src/mg_odom_publisher.cpp)
 
 ament_target_dependencies(
   mg_odom_publisher
+  mg_msgs
+  std_srvs
   tf2
   tf2_ros
   tf2_geometry_msgs
diff --git a/mg_odometry/package.xml b/mg_odometry/package.xml
index ff8c045..562c240 100644
--- a/mg_odometry/package.xml
+++ b/mg_odometry/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
+  <depend>std_srvs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>