diff --git a/controller_interface/package.xml b/controller_interface/package.xml
index 9d2109f975..37a621359a 100644
--- a/controller_interface/package.xml
+++ b/controller_interface/package.xml
@@ -14,6 +14,9 @@
   <build_depend>rclcpp_lifecycle</build_depend>
   <build_depend>sensor_msgs</build_depend>
 
+  <build_export_depend>hardware_interface</build_export_depend>
+  <build_export_depend>rclcpp_lifecycle</build_export_depend>
+
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>sensor_msgs</test_depend>