diff --git a/jsk_topic_tools/package.xml b/jsk_topic_tools/package.xml
index f291b460..b22a0ded 100644
--- a/jsk_topic_tools/package.xml
+++ b/jsk_topic_tools/package.xml
@@ -34,6 +34,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
+  <depend>rclcpp</depend>
 
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>