diff --git a/point_cloud_transport_plugins/package.xml b/point_cloud_transport_plugins/package.xml
index a9ddad2..60541c6 100644
--- a/point_cloud_transport_plugins/package.xml
+++ b/point_cloud_transport_plugins/package.xml
@@ -15,6 +15,7 @@
   <exec_depend>draco_point_cloud_transport</exec_depend>
   <exec_depend>point_cloud_interfaces</exec_depend>
   <exec_depend>zlib_point_cloud_transport</exec_depend>
+  <exec_depend>zstd_point_cloud_transport</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>