diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0d37397..d2a3de3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,12 @@ cmake_minimum_required(VERSION 2.8.3)
 project(rttlua_completion)
 
 find_package(catkin REQUIRED)
-catkin_package()
+
+find_package(Lua51 REQUIRED)
+
+catkin_package(
+  DEPENDS Lua51
+)
 catkin_add_env_hooks(10.rttlua_completion SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
 
 #############
@@ -12,8 +17,6 @@ catkin_add_env_hooks(10.rttlua_completion SHELLS sh DIRECTORY ${CMAKE_CURRENT_SO
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
-find_package(Lua51 REQUIRED)
-
 # Copied from rtt/config/check_depend.cmake
 FIND_PATH( READLINE_H readline/readline.h )
 IF ( READLINE_H )
diff --git a/package.xml b/package.xml
index d8a2ba8..44b84ef 100644
--- a/package.xml
+++ b/package.xml
@@ -17,6 +17,9 @@
   <!-- Dependencies can be catkin packages or system dependencies -->
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>lua-dev</build_depend>
+  <run_depend>lua-dev</run_depend>
+
   <run_depend>ocl</run_depend>
 
 </package>