diff --git a/setup.py b/setup.py
index 087928674..56eccfb43 100644
--- a/setup.py
+++ b/setup.py
@@ -9,7 +9,7 @@
     'version': '0.21.0',
     'packages': ['rosdep2', 'rosdep2.ament_packages', 'rosdep2.platforms'],
     'package_dir': {'': 'src'},
-    'install_requires': ['catkin_pkg >= 0.4.0', 'rospkg >= 1.4.0', 'rosdistro >= 0.7.5', 'PyYAML >= 3.1'],
+    'install_requires': ['catkin_pkg >= 0.4.0', 'rospkg >= 1.4.0', 'rosdistro >= 0.7.5', 'PyYAML >= 3.1', 'setuptools'],
     'test_requires': ['mock', 'pytest'],
     'author': 'Tully Foote, Ken Conley',
     'author_email': 'tfoote@osrfoundation.org',
diff --git a/stdeb.cfg b/stdeb.cfg
index de51d8cde..724f36980 100644
--- a/stdeb.cfg
+++ b/stdeb.cfg
@@ -17,8 +17,8 @@ X-Python3-Version: >= 3.4
 Setup-Env-Vars: SKIP_PYTHON_MODULES=1
 
 [rosdep_modules]
-Depends: ca-certificates, python-rospkg-modules (>= 1.4.0), python-yaml, python-catkin-pkg-modules (>= 0.4.0), python-rosdistro-modules (>= 0.7.5), sudo
-Depends3: ca-certificates, python3-rospkg-modules (>= 1.4.0), python3-yaml, python3-catkin-pkg-modules (>= 0.4.0), python3-rosdistro-modules (>= 0.7.5), sudo
+Depends: ca-certificates, python-rospkg-modules (>= 1.4.0), python-yaml, python-catkin-pkg-modules (>= 0.4.0), python-rosdistro-modules (>= 0.7.5), python-setuptools, sudo
+Depends3: ca-certificates, python3-rospkg-modules (>= 1.4.0), python3-yaml, python3-catkin-pkg-modules (>= 0.4.0), python3-rosdistro-modules (>= 0.7.5), python3-setuptools, sudo
 Conflicts: python-rosdep (<< 0.18.0), python-rosdep2
 Conflicts3: python3-rosdep (<< 0.18.0), python3-rosdep2
 Replaces: python-rosdep (<< 0.18.0)