diff --git a/op3_demo/CMakeLists.txt b/op3_demo/CMakeLists.txt
index dc1fdea..53f21c4 100644
--- a/op3_demo/CMakeLists.txt
+++ b/op3_demo/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   ball_detector
   op3_walking_module_msgs
+  robotis_controller_msgs
   cmake_modules
   robotis_math
 )
@@ -45,7 +46,7 @@ include_directories(
   ${Eigen_INCLUDE_DIRS}
 )
 
-add_executable(op_demo_node 
+add_executable(op_demo_node
   src/demo_node.cpp
   src/soccer/soccer_demo.cpp
   src/soccer/ball_tracker.cpp
@@ -62,7 +63,7 @@ target_link_libraries(op_demo_node
   yaml-cpp
 )
 
-add_executable(self_test_node 
+add_executable(self_test_node
   src/test_node.cpp
   src/soccer/soccer_demo.cpp
   src/soccer/ball_tracker.cpp
@@ -118,4 +119,4 @@ target_link_libraries(self_test_node
 
 ################################################################################
 # Test
-################################################################################
\ No newline at end of file
+################################################################################
diff --git a/op3_demo/package.xml b/op3_demo/package.xml
index b376b44..3e3c524 100644
--- a/op3_demo/package.xml
+++ b/op3_demo/package.xml
@@ -10,19 +10,21 @@
   <author email="kmjung@robotis.com">kayman</author>
   <maintainer email="pyo@robotis.com">Pyo</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>  
+  <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>roslib</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>ball_detector</build_depend>
+  <build_depend>robotis_controller_msgs</build_depend>
   <build_depend>op3_walking_module_msgs</build_depend>
   <build_depend>cmake_modules</build_depend>
-  <build_depend>robotis_math</build_depend>  
+  <build_depend>robotis_math</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>roslib</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>ball_detector</run_depend>
+  <run_depend>robotis_controller_msgs</run_depend>
   <run_depend>op3_walking_module_msgs</run_depend>
   <run_depend>cmake_modules</run_depend>
   <run_depend>robotis_math</run_depend>
-</package>
\ No newline at end of file
+</package>