diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml
index 7d9652219b656..570e6822ce2cf 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml
@@ -29,6 +29,7 @@
   <depend>autoware_velocity_smoother</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
+  <depend>grid_map_core</depend>
   <depend>libboost-dev</depend>
   <depend>pcl_conversions</depend>
   <depend>pluginlib</depend>