diff --git a/rcl/test/rcl/wait_for_entity_helpers.cpp b/rcl/test/rcl/wait_for_entity_helpers.cpp
index a28cf7f22..625e1ea4a 100644
--- a/rcl/test/rcl/wait_for_entity_helpers.cpp
+++ b/rcl/test/rcl/wait_for_entity_helpers.cpp
@@ -15,6 +15,7 @@
 #include "wait_for_entity_helpers.hpp"
 
 #include <chrono>
+#include <stdexcept>
 #include <thread>
 
 #include "rcutils/logging_macros.h"