diff --git a/dynamixel_hardware/CMakeLists.txt b/dynamixel_hardware/CMakeLists.txt
index d97ca69..c9248ec 100644
--- a/dynamixel_hardware/CMakeLists.txt
+++ b/dynamixel_hardware/CMakeLists.txt
@@ -23,6 +23,7 @@ find_package(lifecycle_msgs REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(dynamixel_workbench_toolbox REQUIRED)
+find_package(tinyxml2_vendor REQUIRED)
 
 add_library(
   ${PROJECT_NAME}
diff --git a/dynamixel_hardware/package.xml b/dynamixel_hardware/package.xml
index cab2424..3e2b712 100644
--- a/dynamixel_hardware/package.xml
+++ b/dynamixel_hardware/package.xml
@@ -14,6 +14,7 @@
   <depend>lifecycle_msgs</depend>
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
+  <depend>tinyxml2_vendor</depend>
   <depend>dynamixel_workbench_toolbox</depend>
 
   <test_depend>ament_lint_auto</test_depend>