diff --git a/dev-ros/tf_conversions/tf_conversions-1.13.2-r1.ebuild b/dev-ros/tf_conversions/tf_conversions-1.13.2-r1.ebuild
index 434b4e5535261..c717bec237996 100644
--- a/dev-ros/tf_conversions/tf_conversions-1.13.2-r1.ebuild
+++ b/dev-ros/tf_conversions/tf_conversions-1.13.2-r1.ebuild
@@ -21,6 +21,7 @@ RDEPEND="
 	sci-libs/orocos_kdl:=
 	dev-ros/rospy[${PYTHON_SINGLE_USEDEP}]
 	$(python_gen_cond_dep "dev-python/python_orocos_kdl[\${PYTHON_USEDEP}]")
+	$(python_gen_cond_dep "dev-python/numpy[\${PYTHON_USEDEP}]")
 "
 DEPEND="${RDEPEND}
 	dev-cpp/eigen:3
diff --git a/dev-ros/tf_conversions/tf_conversions-9999.ebuild b/dev-ros/tf_conversions/tf_conversions-9999.ebuild
index 434b4e5535261..c717bec237996 100644
--- a/dev-ros/tf_conversions/tf_conversions-9999.ebuild
+++ b/dev-ros/tf_conversions/tf_conversions-9999.ebuild
@@ -21,6 +21,7 @@ RDEPEND="
 	sci-libs/orocos_kdl:=
 	dev-ros/rospy[${PYTHON_SINGLE_USEDEP}]
 	$(python_gen_cond_dep "dev-python/python_orocos_kdl[\${PYTHON_USEDEP}]")
+	$(python_gen_cond_dep "dev-python/numpy[\${PYTHON_USEDEP}]")
 "
 DEPEND="${RDEPEND}
 	dev-cpp/eigen:3