diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml
index 02f6c7fd9db..20152494f08 100644
--- a/nav2_costmap_2d/package.xml
+++ b/nav2_costmap_2d/package.xml
@@ -37,6 +37,7 @@
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>angles</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>