diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md
index bb40036..82dc0e4 100644
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -136,6 +136,24 @@ source activate_venv.sh
 pip install pexpect future
 ```
 
+source activate_venv.sh
+pip install pexpect future
+```
+
+### Build Failed (Missing catkin_pkg)
+
+**Symptoms:**
+- `ModuleNotFoundError: No module named 'catkin_pkg'` within `package_xml_2_cmake.py`
+- CMake configuration error at `ament_package_xml.cmake`
+
+**Solution:**
+This occurs when the virtual environment is missing ROS 2 build dependencies that are normally present in the system python but not in the venv.
+
+```bash
+source activate_venv.sh
+pip install catkin_pkg
+```
+
 ## WSL-Specific Issues
 
 ### Display Not Available
diff --git a/requirements.txt b/requirements.txt
index 0dc5c0c..00a8a69 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -11,6 +11,7 @@ opencv-contrib-python>=4.5.0,<4.9.0
 # ROS 2 Python dependencies
 empy>=3.3.4
 lark>=1.1.1
+catkin_pkg>=0.5.0
 
 # Computer vision and scientific computing
 scipy>=1.7.0,<1.12.0