diff --git a/ur_moveit_config/package.xml b/ur_moveit_config/package.xml
index 7e4112152..20c69437a 100644
--- a/ur_moveit_config/package.xml
+++ b/ur_moveit_config/package.xml
@@ -22,6 +22,7 @@
   <exec_depend>moveit_configs_utils</exec_depend>
   <exec_depend>moveit_kinematics</exec_depend>
   <exec_depend>moveit_planners</exec_depend>
+  <exec_depend>moveit_planners_chomp</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
   <exec_depend>moveit_servo</exec_depend>