diff --git a/CMakeLists.txt b/CMakeLists.txt
index 292a3f98..6af77586 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -255,9 +255,9 @@ if(TEST_ROS1_BRIDGE)
   find_package(launch_testing_ament_cmake REQUIRED)
 
   add_executable(test_ros1_client "test/test_ros1_client.cpp")
-  ament_target_dependencies(test_ros1_client "ros1_roscpp")
+  ament_target_dependencies(test_ros1_client "ros1_diagnostic_msgs" "ros1_roscpp")
   add_executable(test_ros1_server "test/test_ros1_server.cpp")
-  ament_target_dependencies(test_ros1_server "ros1_roscpp")
+  ament_target_dependencies(test_ros1_server "ros1_diagnostic_msgs" "ros1_roscpp")
   set(TEST_BRIDGE_ROS1_ENV "${ros1_roslaunch_PREFIX}/env.sh")
   set(TEST_BRIDGE_ROSCORE "${ros1_roslaunch_PREFIX}/bin/roscore")
   set(TEST_BRIDGE_ROS1_CLIENT "$<TARGET_FILE:test_ros1_client>")