diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 2e44281..5fcb4e6 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -194,6 +194,9 @@ RDEPENDS_${PN} = "\
     mavros \
     mavros-extras \
     mavlink \
+    can-msgs \
+    socketcan-bridge \
+    socketcan-interface \
 "
 
 # kdl-parser-py requires python-orocos-kdl, which current fails due to #469.