diff --git a/control_toolbox/include/control_filters/custom_validators.hpp b/control_toolbox/include/control_filters/custom_validators.hpp
index 7a4db439..0d9c4af9 100644
--- a/control_toolbox/include/control_filters/custom_validators.hpp
+++ b/control_toolbox/include/control_filters/custom_validators.hpp
@@ -21,7 +21,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <rsl/parameter_validators.hpp>
-#include <tl_expected/expected.hpp>
+#include <tl/expected.hpp>
 
 namespace control_filters
 {
diff --git a/control_toolbox/package.xml b/control_toolbox/package.xml
index 5b5d3aca..20d0d874 100644
--- a/control_toolbox/package.xml
+++ b/control_toolbox/package.xml
@@ -31,10 +31,12 @@
   <depend>filters</depend>
   <depend>generate_parameter_library</depend>
   <depend>geometry_msgs</depend>
+  <depend>libexpected-dev</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rcutils</depend>
   <depend>realtime_tools</depend>
+  <depend>rsl</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>