diff --git a/rclcpp/include/rclcpp/context.hpp b/rclcpp/include/rclcpp/context.hpp
index 45c70b9af2..4417f4d675 100644
--- a/rclcpp/include/rclcpp/context.hpp
+++ b/rclcpp/include/rclcpp/context.hpp
@@ -26,6 +26,7 @@
 #include <unordered_set>
 #include <utility>
 #include <vector>
+#include <stdexcept>
 
 #include "rcl/context.h"
 #include "rcl/guard_condition.h"
diff --git a/rclcpp/src/rclcpp/logging_mutex.cpp b/rclcpp/src/rclcpp/logging_mutex.cpp
index 308a21fe73..bbbe9bbeed 100644
--- a/rclcpp/src/rclcpp/logging_mutex.cpp
+++ b/rclcpp/src/rclcpp/logging_mutex.cpp
@@ -14,6 +14,7 @@
 
 #include <memory>
 #include <mutex>
+#include <stdexcept>
 
 #include "rcutils/macros.h"