diff --git a/rviz_common/CMakeLists.txt b/rviz_common/CMakeLists.txt
index 92d1ee14b..578ce60a5 100644
--- a/rviz_common/CMakeLists.txt
+++ b/rviz_common/CMakeLists.txt
@@ -288,6 +288,7 @@ ament_export_dependencies(
   tf2
   tf2_geometry_msgs
   tf2_ros
+  urdf
   yaml_cpp_vendor
 )
 ament_export_include_directories(include)