diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 5f9f358d84..bc47821efd 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -23,6 +23,7 @@ find_package(octomap_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(random_numbers REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rsl REQUIRED)
 find_package(ruckig REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(shape_msgs REQUIRED)
@@ -150,6 +151,7 @@ ament_export_dependencies(
   pluginlib
   random_numbers
   rclcpp
+  rsl
   ruckig
   sensor_msgs
   shape_msgs
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index 85c2c2633a..fdec528292 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -47,6 +47,7 @@
   <depend>pybind11_vendor</depend>
   <depend>random_numbers</depend>
   <depend>rclcpp</depend>
+  <depend>rsl</depend>
   <depend>ruckig</depend>
   <depend>sensor_msgs</depend>
   <depend>shape_msgs</depend>