diff --git a/CMakeLists.txt b/CMakeLists.txt
index a495bf14..f7b9e0c1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -44,7 +44,8 @@ generate_rosjava_messages(
     scheduler_msgs
     move_base_msgs           # ros-planning/navigation
     map_store                # ros-planning/map_store
-
+    audio_common_msgs
+    sound_play
     roscpp                   # !!!!!!! REMOVE THIS ONCE https://github.com/ros-planning/navigation/pull/312 is fixed! !!!!!!!!
 )
 
diff --git a/package.xml b/package.xml
index 5fcf8147..989435aa 100644
--- a/package.xml
+++ b/package.xml
@@ -43,6 +43,8 @@
   <build_depend>rocon_std_msgs</build_depend>
   <build_depend>rocon_tutorial_msgs</build_depend>
   <build_depend>scheduler_msgs</build_depend>
+  <build_depend>audio_common_msgs</build_depend>
+  <build_depend>sound_play</build_depend>
   <build_depend>world_canvas_msgs</build_depend>
   <build_depend>map_store</build_depend>                # ros-planning/map_store
   <build_depend>move_base_msgs</build_depend>           # ros-planning/navigation