diff --git a/livox_ros_driver/CMakeLists.txt b/livox_ros_driver/CMakeLists.txt
index 7b093e0..47e4e8f 100644
--- a/livox_ros_driver/CMakeLists.txt
+++ b/livox_ros_driver/CMakeLists.txt
@@ -29,6 +29,7 @@ find_package(catkin REQUIRED COMPONENTS
 	std_msgs
 	message_generation
 	rosbag
+	pcl_ros
 	)
 
 ## Find pcl lib
@@ -64,6 +65,7 @@ endif (APR_FOUND)
 ## DEPENDS: system dependencies of this project that dependent projects also n    eed
 catkin_package(CATKIN_DEPENDS
 	roscpp rospy std_msgs message_runtime
+	pcl_ros
 	)
 
 #---------------------------------------------------------------------------------------
diff --git a/livox_ros_driver/package.xml b/livox_ros_driver/package.xml
index 4e7161e..0c47130 100644
--- a/livox_ros_driver/package.xml
+++ b/livox_ros_driver/package.xml
@@ -55,17 +55,20 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>rosbag</build_depend>
+  <build_depend>pcl_ros</build_depend>
 
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>rosbag</build_export_depend>
+  <build_export_depend>pcl_ros</build_export_depend>
 
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>rosbag</exec_depend>
+  <exec_depend>pcl_ros</exec_depend>
 
   <depend>sensor_msgs</depend>
   <depend>git</depend>