diff --git a/moveit_common/cmake/moveit_package.cmake b/moveit_common/cmake/moveit_package.cmake
index febf332068..8895cfce7c 100644
--- a/moveit_common/cmake/moveit_package.cmake
+++ b/moveit_common/cmake/moveit_package.cmake
@@ -32,6 +32,9 @@ macro(moveit_package)
   find_package(ament_cmake REQUIRED)
   ament_package_xml()
 
+  # Enable backward_ros on every moveit package
+  find_package(backward_ros QUIET)
+
   if(NOT "${CMAKE_CXX_STANDARD}")
     set(CMAKE_CXX_STANDARD 17)
   endif()
diff --git a/moveit_common/package.xml b/moveit_common/package.xml
index e48ff30c39..58339a50d0 100644
--- a/moveit_common/package.xml
+++ b/moveit_common/package.xml
@@ -12,6 +12,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>backward_ros</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>