diff --git a/planning/mission_planner/CMakeLists.txt b/planning/mission_planner/CMakeLists.txt
index b7a9b3ce9c84f..182ba70ae7e6b 100644
--- a/planning/mission_planner/CMakeLists.txt
+++ b/planning/mission_planner/CMakeLists.txt
@@ -23,6 +23,7 @@ ament_auto_add_library(mission_planner_node SHARED
 rclcpp_components_register_node(mission_planner_node
   PLUGIN "mission_planner::MissionPlannerLanelet2"
   EXECUTABLE mission_planner
+  EXECUTOR MultiThreadedExecutor
 )
 
 ament_auto_add_library(goal_pose_visualizer_node SHARED