diff --git a/moveit_core/online_signal_smoothing/CMakeLists.txt b/moveit_core/online_signal_smoothing/CMakeLists.txt
index 7b4bbd04ff..f9b9cbaabe 100644
--- a/moveit_core/online_signal_smoothing/CMakeLists.txt
+++ b/moveit_core/online_signal_smoothing/CMakeLists.txt
@@ -66,6 +66,7 @@ target_link_libraries(moveit_acceleration_filter
 )
 ament_target_dependencies(moveit_acceleration_filter
   srdfdom  # include dependency from moveit_robot_model
+  pluginlib
 )