diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml
index 688f72026804e..c3d8f78670502 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/package.xml
+++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>libboost-dev</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>