diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml
index f7117c2b23892..c7a91a99505ad 100644
--- a/launch/tier4_system_launch/package.xml
+++ b/launch/tier4_system_launch/package.xml
@@ -11,7 +11,16 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_component_interface_tools</exec_depend>
   <exec_depend>autoware_component_state_monitor</exec_depend>
+  <exec_depend>autoware_dummy_diag_publisher</exec_depend>
+  <exec_depend>autoware_duplicated_node_checker</exec_depend>
+  <exec_depend>autoware_hazard_status_converter</exec_depend>
+  <exec_depend>autoware_mrm_comfortable_stop_operator</exec_depend>
+  <exec_depend>autoware_mrm_emergency_stop_operator</exec_depend>
+  <exec_depend>autoware_mrm_handler</exec_depend>
+  <exec_depend>autoware_processing_time_checker</exec_depend>
+  <exec_depend>autoware_system_diagnostic_monitor</exec_depend>
   <exec_depend>autoware_system_monitor</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>