diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
index 232c548b28da3..78c4ea7e4c609 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
@@ -23,6 +23,7 @@
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_bezier_sampler</depend>
+  <depend>autoware_freespace_planning_algorithms</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_rtc_interface</depend>
   <depend>autoware_test_utils</depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
index c7cabb403f164..214731f96cebc 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
@@ -22,6 +22,7 @@
 
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
+  <depend>autoware_freespace_planning_algorithms</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_rtc_interface</depend>
   <depend>autoware_universe_utils</depend>