diff --git a/stack.xml b/stack.xml
index cfa18445b9c47b0877a596849c02ae00ebd5d326..1de675b1dede75314d95953b0df21002ee6acbdb 100644
--- a/stack.xml
+++ b/stack.xml
@@ -6,5 +6,8 @@
   <url>http://ros.org/wiki/universal_robot</url>
 
   <depend stack="robot_model" /> 
+  <depend stack="actionlib" /> 
+  <depend stack="ros_comm" /> 
+  <depend stack="control" /> 
   
 </stack>