diff --git a/CHANGELOG.md b/CHANGELOG.md
index 43d6fe8d..ee78eeb9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+* Add missing dependencies in `package.xml`: pinocchio, eigen.
+
 ## [0.3.4] - 2024-01-19
 
 ### Fixed