diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
index 8a96b0bad1..76725b8d47 100644
--- a/nav2_controller/CMakeLists.txt
+++ b/nav2_controller/CMakeLists.txt
@@ -7,6 +7,7 @@ find_package(geometry_msgs REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 find_package(nav2_core REQUIRED)
 find_package(nav2_common REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
 find_package(nav2_msgs REQUIRED)
 find_package(nav2_util REQUIRED)
 find_package(nav_2d_msgs REQUIRED)
diff --git a/nav2_controller/package.xml b/nav2_controller/package.xml
index b83ae3a214..7eb51ca459 100644
--- a/nav2_controller/package.xml
+++ b/nav2_controller/package.xml
@@ -14,6 +14,7 @@
   <depend>geometry_msgs</depend>
   <depend>lifecycle_msgs</depend>
   <depend>nav2_core</depend>
+  <depend>nav2_costmap_2d</depend>
   <depend>nav2_msgs</depend>
   <depend>nav2_util</depend>
   <depend>nav_2d_msgs</depend>