diff --git a/stack.xml b/stack.xml
index 5ec07668ffd7c7a1712ee26f778b78228788c5ff..af29045cf8a86aad3410a2d09e65304936d49ae8 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="pluginlib" /> 
+  <depend stack="arm_navigation" /> 
+  <depend stack="arm_navigation" /> 
+  
 </stack>
diff --git a/ur5_moveit/manifest.xml b/ur5_moveit/manifest.xml
index 57d7152be26ab3c8ab34e5af261fc82753a1f069..9a87d77737b7fa4925716c7d3b3c37015b9e014d 100644
--- a/ur5_moveit/manifest.xml
+++ b/ur5_moveit/manifest.xml
@@ -9,7 +9,7 @@
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/ur5_moveit</url>
   <depend package="kinematics_base"/>
-  <depend package="moveit_configuration_tools"/>
+  <!--depend package="moveit_configuration_tools"/-->
   <depend package="pluginlib"/>
   <depend package="ur5_description"/>
   <export>