diff --git a/nav2_loopback_sim/package.xml b/nav2_loopback_sim/package.xml
index 5c5599706ae..9d55a6d4837 100644
--- a/nav2_loopback_sim/package.xml
+++ b/nav2_loopback_sim/package.xml
@@ -12,6 +12,7 @@
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>tf_transformations</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>python3-transforms3d</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>