diff --git a/sensor_msgs/CMakeLists.txt b/sensor_msgs/CMakeLists.txt
index 530141e3..b6790ca0 100644
--- a/sensor_msgs/CMakeLists.txt
+++ b/sensor_msgs/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(builtin_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(service_msgs REQUIRED)
 
 set(msg_files
   "msg/BatteryState.msg"
@@ -52,7 +53,7 @@ set(srv_files
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
   ${srv_files}
-  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs service_msgs
   ADD_LINTER_TESTS
 )
 
diff --git a/sensor_msgs/package.xml b/sensor_msgs/package.xml
index 03c17eff..1c281620 100644
--- a/sensor_msgs/package.xml
+++ b/sensor_msgs/package.xml
@@ -21,6 +21,7 @@
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>service_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>