diff --git a/nav2_graceful_motion_controller/package.xml b/nav2_graceful_motion_controller/package.xml
index 02d8dc76a96..17565ad7845 100644
--- a/nav2_graceful_motion_controller/package.xml
+++ b/nav2_graceful_motion_controller/package.xml
@@ -25,6 +25,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>nav2_controller</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>