diff --git a/moveit_middleware_benchmark.repos b/moveit_middleware_benchmark.repos
index 58ac283..c0ce192 100644
--- a/moveit_middleware_benchmark.repos
+++ b/moveit_middleware_benchmark.repos
@@ -1,4 +1,8 @@
 repositories:
+  moveit_task_constructor:
+    type: git
+    url: https://github.com/moveit/moveit_task_constructor.git
+    version: ros2
   moveit_resources:
     type: git
     url: https://github.com/moveit/moveit_resources.git
diff --git a/package.xml b/package.xml
index 750482e..e5ed018 100644
--- a/package.xml
+++ b/package.xml
@@ -17,6 +17,8 @@
   <depend>ament_index_cpp</depend>
   <depend>yaml-cpp</depend>
   <depend>example_interfaces</depend>
+  <depend>generate_parameter_library</depend>
+  <depend>moveit_task_constructor_core</depend>
 
   <exec_depend>rmw_zenoh_cpp</exec_depend>
   <exec_depend>rmw_fastrtps_cpp</exec_depend>