diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 1b05dc34a..c2eed8a8e 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -19,6 +19,7 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
 find_package(controller_manager REQUIRED)
 find_package(controller_manager_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index 8b3fc71a7..865ffde26 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/package.xml
@@ -26,6 +26,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
+  <depend>backward_ros</depend>
   <depend>controller_manager</depend>
   <depend>controller_manager_msgs</depend>
   <depend>geometry_msgs</depend>