diff --git a/rosdep.yaml b/rosdep.yaml
index 9d985f2..99e3258 100644
--- a/rosdep.yaml
+++ b/rosdep.yaml
@@ -1,7 +1,12 @@
 python3-fastapi:
   ubuntu:
     pip:
-      packages: [fastapi]
+      packages: ["fastapi>=0.100.0"]
+
+python3-starlette:
+  ubuntu:
+    pip:
+      packages: ["starlette>=0.27.0"]
 
 python3-uvicorn:
   ubuntu:
diff --git a/src/iiwa_web/package.xml b/src/iiwa_web/package.xml
index 45dab2e..a077136 100644
--- a/src/iiwa_web/package.xml
+++ b/src/iiwa_web/package.xml
@@ -8,6 +8,7 @@
   <license>Apache-2.0</license>
 
   <exec_depend>python3-fastapi</exec_depend>
+  <exec_depend>python3-starlette</exec_depend>
   <exec_depend>python3-uvicorn</exec_depend>
   <exec_depend>python3-multipart</exec_depend>
   <exec_depend>python3-fastmcp</exec_depend>