diff --git a/Makefile b/Makefile
index a2357254c5..3217920e7c 100644
--- a/Makefile
+++ b/Makefile
@@ -374,7 +374,7 @@ tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 
-tests_avoidance:
+tests_avoidance: rostest
 	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
 
 python_coverage: