diff --git a/recipes-ros/packagegroups/packagegroup-ros-kobuki.bb b/recipes-ros/packagegroups/packagegroup-ros-kobuki.bb
index c2fbb42..5863c85 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-kobuki.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-kobuki.bb
@@ -60,4 +60,7 @@ RDEPENDS_${PN} = "\
     std-capabilities \
     unique-id \
     uuid-msgs \
+    zeroconf-avahi \
+    zeroconf-avahi-demos \
+    zeroconf-msgs \
 "