diff --git a/CMakeLists.txt b/CMakeLists.txt
index 427a56194..bdbddfae8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(catkin REQUIRED
     moveit_ros_planning
     moveit_ros_planning_interface
     moveit_ros_perception
+    rviz
     rviz_visual_tools
     moveit_visual_tools
     pluginlib
diff --git a/package.xml b/package.xml
index 0973dbfcc..30c8d33d3 100644
--- a/package.xml
+++ b/package.xml
@@ -27,6 +27,7 @@
   <build_depend>interactive_markers</build_depend>
   <build_depend>geometric_shapes</build_depend>
   <build_depend>moveit_visual_tools</build_depend>
+  <build_depend>rviz</build_depend>
   <build_depend>rviz_visual_tools</build_depend>
   <build_depend>pcl_ros</build_depend>
   <build_depend>pcl_conversions</build_depend>