diff --git a/franka_gazebo/CMakeLists.txt b/franka_gazebo/CMakeLists.txt
index 615d7c363..787f27522 100644
--- a/franka_gazebo/CMakeLists.txt
+++ b/franka_gazebo/CMakeLists.txt
@@ -133,6 +133,10 @@ install(TARGETS franka_hw_sim franka_gripper_sim
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+catkin_install_python(PROGRAMS scripts/delayed_controller_spawner.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
diff --git a/franka_gazebo/package.xml b/franka_gazebo/package.xml
index cc230062a..83dddf084 100644
--- a/franka_gazebo/package.xml
+++ b/franka_gazebo/package.xml
@@ -42,6 +42,9 @@
   <test_depend>sensor_msgs</test_depend>
   <test_depend>geometry_msgs</test_depend>
 
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>roslaunch</exec_depend>
+
   <export>
     <controller_interface plugin="${prefix}/franka_gripper_sim_plugin.xml"/>
     <gazebo_ros_control   plugin="${prefix}/franka_hw_sim_plugin.xml"/>