diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml
index 3efffe688e1b9..ad8e8d0f879d4 100644
--- a/sensing/autoware_pointcloud_preprocessor/package.xml
+++ b/sensing/autoware_pointcloud_preprocessor/package.xml
@@ -31,6 +31,7 @@
   <depend>autoware_pcl_extensions</depend>
   <depend>autoware_point_types</depend>
   <depend>autoware_utils</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>cgal</depend>
   <depend>cv_bridge</depend>
   <depend>diagnostic_updater</depend>