diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 3e97446..435b577 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -9,7 +9,7 @@ jobs:
       - uses: actions/checkout@v2
       - name: Package
         id: package
-        uses: AutoModality/action-package-debian-ros@v3
+        uses: AutoModality/action-package-debian-ros@v4
         with:
           release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}
 
diff --git a/.github/workflows/package.yml b/.github/workflows/package.yml
index 8ccf1a5..7cf4888 100644
--- a/.github/workflows/package.yml
+++ b/.github/workflows/package.yml
@@ -16,7 +16,7 @@ jobs:
       - uses: rlespinasse/github-slug-action@2.0.0 # for GITHUB_REF_SLUG
       - name: Package
         id: package
-        uses: AutoModality/action-package-debian-ros@v3
+        uses: AutoModality/action-package-debian-ros@v4
         with:
           branch: ${{ env.GITHUB_REF_SLUG }}
           build-number: ${{ github.run_number }}
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index a8b0936..445f2a5 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -80,7 +80,7 @@ jobs:
       - name: Package if published
         if: steps.published.outputs.value == 'true'
         id: package
-        uses: AutoModality/action-package-debian-ros@v3
+        uses: AutoModality/action-package-debian-ros@v4
         with:
           version: ${{ steps.version.outputs.value }}
           release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}
diff --git a/debian/control b/debian/control
index ae64b9e..32621e3 100644
--- a/debian/control
+++ b/debian/control
@@ -2,9 +2,12 @@ Source: ros-melodic-am-utils
 Section: misc
 Priority: extra
 Maintainer: info <info@automodality.com>
-Build-Depends: debhelper (>= 9.0.0), 
+Build-Depends: debhelper (>= 9.0.0),
+	libjsoncpp-dev, 
+    pcl,
     ros-melodic-am-control-toolbox, 
     ros-melodic-am-msgs, 
+    ros-melodic-am-perception-pcl,
     ros-melodic-catkin, 
     ros-melodic-cv-bridge, 
     ros-melodic-geometry-msgs, 
@@ -19,16 +22,20 @@ Build-Depends: debhelper (>= 9.0.0),
     ros-melodic-std-msgs, 
     ros-melodic-tf2, 
     ros-melodic-tf2-ros,
-    ros-melodic-tf2-sensor-msgs, 
+    ros-melodic-tf2-sensor-msgs,
+    ros-melodic-tf2-geometry-msgs, 
     ros-melodic-uuid-msgs,
 
 Homepage: https://github.com/AutoModality/am-utils
 Standards-Version: 3.9.2
 Package: ros-melodic-am-utils
 Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, 
+Depends: ${shlibs:Depends}, ${misc:Depends},
+	libjsoncpp-dev,  
+    pcl,
     ros-melodic-am-control-toolbox,
-    ros-melodic-am-msgs, 
+    ros-melodic-am-msgs,
+    ros-melodic-am-perception-pcl,
     ros-melodic-am-platform-scripts,
     ros-melodic-cv-bridge, 
     ros-melodic-geometry-msgs, 
@@ -43,6 +50,7 @@ Depends: ${shlibs:Depends}, ${misc:Depends},
     ros-melodic-std-msgs, 
     ros-melodic-tf2, 
     ros-melodic-tf2-ros,
-    ros-melodic-tf2-sensor-msgs, 
+    ros-melodic-tf2-sensor-msgs,
+    ros-melodic-tf2-geometry-msgs, 
     ros-melodic-uuid-msgs,
 Description: Common code to assist with AutoModality libraries found in separate repositories.