diff --git a/micro_ros_agent/cmake/SuperBuild.cmake b/micro_ros_agent/cmake/SuperBuild.cmake
index 46f4ed2..3f24088 100644
--- a/micro_ros_agent/cmake/SuperBuild.cmake
+++ b/micro_ros_agent/cmake/SuperBuild.cmake
@@ -19,10 +19,10 @@ unset(_deps)
 enable_language(C)
 enable_language(CXX)
 
-unset(xrceagent_DIR CACHE)
-find_package(xrceagent 2 EXACT QUIET)
-if(NOT xrceagent_FOUND)
-    ExternalProject_Add(xrceagent
+unset(microxrcedds_agent_DIR CACHE)
+find_package(microxrcedds_agent 2 QUIET)
+if(NOT microxrcedds_agent_FOUND)
+    ExternalProject_Add(microxrcedds_agent
             GIT_REPOSITORY
                 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
             GIT_TAG
@@ -51,6 +51,7 @@ if(NOT xrceagent_FOUND)
                 -DUAGENT_BUILD_EXECUTABLE:BOOL=OFF
                 -DUAGENT_ISOLATED_INSTALL:BOOL=OFF
             )
+    list(APPEND _deps microxrcedds_agent)
 endif()
 
 # Main project.
@@ -64,5 +65,5 @@ ExternalProject_Add(micro_ros_agent
     INSTALL_COMMAND
         ""
     DEPENDS
-        xrceagent
+        ${_deps}
     )
diff --git a/micro_ros_agent/package.xml b/micro_ros_agent/package.xml
index 43231e7..ce0518b 100644
--- a/micro_ros_agent/package.xml
+++ b/micro_ros_agent/package.xml
@@ -20,6 +20,7 @@
   <depend>rmw_fastrtps_shared_cpp</depend>
   <depend>rmw_dds_common</depend>
   <depend>micro_ros_msgs</depend>
+  <depend>microxrcedds_agent</depend>
 
   <test_depend>rosidl_typesupport_fastrtps_cpp</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>