diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt
index cd90e4d5c5..e3f8fd2120 100644
--- a/moveit_core/collision_detection/CMakeLists.txt
+++ b/moveit_core/collision_detection/CMakeLists.txt
@@ -18,6 +18,7 @@ generate_export_header(moveit_collision_detection)
 
 ament_target_dependencies(
   moveit_collision_detection
+  eigen_stl_containers
   pluginlib
   rclcpp
   rmw_implementation
diff --git a/moveit_core/distance_field/CMakeLists.txt b/moveit_core/distance_field/CMakeLists.txt
index c70886f12f..165d82a7aa 100644
--- a/moveit_core/distance_field/CMakeLists.txt
+++ b/moveit_core/distance_field/CMakeLists.txt
@@ -12,6 +12,7 @@ set_target_properties(moveit_distance_field
 ament_target_dependencies(
   moveit_distance_field
   Boost
+  eigen_stl_containers
   urdfdom
   urdfdom_headers
   visualization_msgs
diff --git a/moveit_core/robot_model/CMakeLists.txt b/moveit_core/robot_model/CMakeLists.txt
index 1a1c59fb49..2886ed4f0a 100644
--- a/moveit_core/robot_model/CMakeLists.txt
+++ b/moveit_core/robot_model/CMakeLists.txt
@@ -33,6 +33,7 @@ ament_target_dependencies(
   angles
   moveit_msgs
   Eigen3
+  eigen_stl_containers
   geometric_shapes
   urdf
   urdfdom_headers
diff --git a/moveit_core/robot_state/CMakeLists.txt b/moveit_core/robot_state/CMakeLists.txt
index fad8b36830..840e6ba4e7 100644
--- a/moveit_core/robot_state/CMakeLists.txt
+++ b/moveit_core/robot_state/CMakeLists.txt
@@ -7,8 +7,14 @@ target_include_directories(
          $<INSTALL_INTERFACE:include/moveit_core>)
 set_target_properties(moveit_robot_state PROPERTIES VERSION
                                                     ${${PROJECT_NAME}_VERSION})
-ament_target_dependencies(moveit_robot_state urdf tf2_geometry_msgs
-                          geometric_shapes urdfdom_headers Boost)
+ament_target_dependencies(
+  moveit_robot_state
+  eigen_stl_containers
+  urdf
+  tf2_geometry_msgs
+  geometric_shapes
+  urdfdom_headers
+  Boost)
 target_link_libraries(moveit_robot_state moveit_robot_model
                       moveit_kinematics_base moveit_transforms)