diff --git a/CMakeLists.txt b/CMakeLists.txt
index 64859c60..c48606b5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   nav_msgs
   message_generation
+  visualization_msgs
 )
 
 find_package(OpenMP REQUIRED)
@@ -43,13 +44,14 @@ catkin_package(
   INCLUDE_DIRS include
   DEPENDS PCL GTSAM
 
-  CATKIN_DEPENDS 
+  CATKIN_DEPENDS
   std_msgs
   nav_msgs
   geometry_msgs
   sensor_msgs
-  message_runtime 
+  message_runtime
   message_generation
+  visualization_msgs
 )
 
 # include directories
@@ -91,4 +93,4 @@ target_link_libraries(${PROJECT_NAME}_mapOptmization ${catkin_LIBRARIES} ${PCL_L
 
 # IMU Preintegration
 add_executable(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp)
-target_link_libraries(${PROJECT_NAME}_imuPreintegration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)
\ No newline at end of file
+target_link_libraries(${PROJECT_NAME}_imuPreintegration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)
diff --git a/package.xml b/package.xml
index 00c17223..7109c3ac 100644
--- a/package.xml
+++ b/package.xml
@@ -16,7 +16,7 @@
   <run_depend>roscpp</run_depend>
   <build_depend>rospy</build_depend>
   <run_depend>rospy</run_depend>
-  
+
   <build_depend>tf</build_depend>
   <run_depend>tf</run_depend>
 
@@ -34,6 +34,8 @@
   <run_depend>geometry_msgs</run_depend>
   <build_depend>nav_msgs</build_depend>
   <run_depend>nav_msgs</run_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <run_depend>visualization_msgs</run_depend>
 
   <build_depend>message_generation</build_depend>
   <run_depend>message_generation</run_depend>