diff --git a/moveit_core/package.xml b/moveit_core/package.xml
index 1152372f63..d8043cae6e 100644
--- a/moveit_core/package.xml
+++ b/moveit_core/package.xml
@@ -41,6 +41,7 @@
   <depend>moveit_msgs</depend>
   <depend>octomap</depend>
   <depend>octomap_msgs</depend>
+  <depend>pluginlib</depend>
   <depend>random_numbers</depend>
   <depend>sensor_msgs</depend>
   <depend>shape_msgs</depend>