diff --git a/CMakeLists.txt b/CMakeLists.txt
index f4e63c131..82fcd5d4d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,8 @@ option(ENABLE_FUZZING "Enable fuzzing builds" OFF)
 option(USE_AFLPLUSPLUS "Use AFL++ instead of libFuzzer" OFF)
 option(ENABLE_DEBUG "Enable debug build with full symbols" OFF)
 option(FORCE_STATIC_LINKING "Force static linking of all dependencies" OFF)
+find_package(ament_cmake REQUIRED)
+find_package(gtest_vendor REQUIRED)
 
 set(BASE_FLAGS "")
 
diff --git a/package.xml b/package.xml
index c4cb75729..fe923b8bf 100644
--- a/package.xml
+++ b/package.xml
@@ -13,6 +13,12 @@
   <author>Davide Faconti</author>
 
   <build_depend>ros_environment</build_depend>
+  <build_depend>ament_cmake</build_depend>
+  <build_depend>gtest_vendor</build_depend>
+
+  <exec_depend>ament_cmake</exec_depend>
+  <exec_depend>gtest_vendor</exec_depend>
+
 
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
   <depend condition="$ROS_VERSION == 1">roslib</depend>