diff --git a/perception/euclidean_cluster/lib/utils.cpp b/perception/euclidean_cluster/lib/utils.cpp
index 6ff563c157d00..c2f20da5d167c 100644
--- a/perception/euclidean_cluster/lib/utils.cpp
+++ b/perception/euclidean_cluster/lib/utils.cpp
@@ -13,6 +13,8 @@
 // limitations under the License.
 #include "euclidean_cluster/utils.hpp"
 
+#include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
+
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>
 #include <sensor_msgs/msg/point_field.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>