diff --git a/planning/motion_velocity_smoother/package.xml b/planning/motion_velocity_smoother/package.xml
index 93b6bf59625ea..feac381416c37 100644
--- a/planning/motion_velocity_smoother/package.xml
+++ b/planning/motion_velocity_smoother/package.xml
@@ -19,6 +19,7 @@
   <depend>libboost-dev</depend>
   <depend>nav_msgs</depend>
   <depend>osqp_interface</depend>
+  <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>