diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9001705..021e480 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,6 +17,7 @@ find_package(std_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(launch_testing_ament_cmake REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system)
+find_package(PkgConfig REQUIRED)
 pkg_check_modules(ZSTD REQUIRED libzstd)
 
 if(BUILD_TESTING)
diff --git a/package.xml b/package.xml
index dac555e..2edc774 100644
--- a/package.xml
+++ b/package.xml
@@ -8,6 +8,7 @@
   <license>MIT License</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>pkg-config</buildtool_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>