diff --git a/buildroot/package.small.xml b/buildroot/package.small.xml
index f5d237b..8eeb2ab 100644
--- a/buildroot/package.small.xml
+++ b/buildroot/package.small.xml
@@ -43,6 +43,9 @@
joy
teleop_twist_joy
+ behaviortree_cpp_v3
+ behaviortree_cpp
+
ament_lint_auto
ament_lint_common
ament_cmake_clang_format
diff --git a/buildroot/package.xml b/buildroot/package.xml
index d66ab68..d656244 100644
--- a/buildroot/package.xml
+++ b/buildroot/package.xml
@@ -44,6 +44,9 @@
joy
teleop_twist_joy
+ behaviortree_cpp_v3
+ behaviortree_cpp
+
ament_lint_auto
ament_lint_common
ament_cmake_clang_format
diff --git a/buildroot/rosdep.yaml b/buildroot/rosdep.yaml
index 9634292..f4c672a 100644
--- a/buildroot/rosdep.yaml
+++ b/buildroot/rosdep.yaml
@@ -1,2 +1,5 @@
libthrust-dev:
ubuntu: [libthrust-dev]
+
+odrive:
+ pip: [odrive]