diff --git a/gpio_controllers/package.xml b/gpio_controllers/package.xml
index 108e951ffa..704bb69f99 100644
--- a/gpio_controllers/package.xml
+++ b/gpio_controllers/package.xml
@@ -22,6 +22,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>controller_interface</depend>
+  <depend>example_interfaces</depend>
   <depend>hardware_interface</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>