diff --git a/CMakeLists.txt b/CMakeLists.txt
index 22985383..9da6f07a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@ if(BUILD_DOCUMENTATION)
 endif()
 
 list(INSERT CMAKE_MODULE_PATH 0 "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_PREFIX_PATH "/opt/openrobots/lib/cmake")  # Find Pinocchio cmake file
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -48,6 +49,7 @@ set(THIRDPARTY_SOURCES_DIR "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty" CACHE PATH
 
 ## Dependencies
 find_package(Poco REQUIRED COMPONENTS Net Foundation)
+find_package(console_bridge REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(pinocchio REQUIRED)
 
diff --git a/package.xml b/package.xml
index 05053f07..e6690a41 100644
--- a/package.xml
+++ b/package.xml
@@ -17,13 +17,11 @@
   <buildtool_depend>cmake</buildtool_depend>
 
   <build_depend>eigen</build_depend>
-  <build_depend>fmt</build_depend>
-  <build_depend>libpoco-dev</build_depend>
-  <build_depend>pinocchio</build_depend>
 
-  <exec_depend>fmt</exec_depend>
-  <exec_depend>libpoco-dev</exec_depend>
-  <exec_depend>pinocchio</exec_depend>
+  <depend>fmt</depend>
+  <depend>libconsole-bridge-dev</depend>
+  <depend>libpoco-dev</depend>
+  <depend>pinocchio</depend>
 
   <doc_depend>doxygen</doc_depend>
   <doc_depend>graphviz</doc_depend>