diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 5e4d857a3612f6c648508310b8f845b3965c68dd..9464216187bf23aa1ee8d710e7146a022c3f32c7 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -103,6 +103,12 @@ RDEPENDS_${PN} = "\
     diagnostic-common-diagnostics \
     diagnostic-updater \
     joy \
+    rosserial-arduino \
+    rosserial-client \
+    rosserial-embeddedlinux \
+    rosserial-msgs \
+    rosserial-python \
+    rosserial-xbee \
     "
 
 # joint-state-publisher still has some issues