diff --git a/autoware_cmake/package.xml b/autoware_cmake/package.xml
index acc9fdcb..eefcf44a 100644
--- a/autoware_cmake/package.xml
+++ b/autoware_cmake/package.xml
@@ -9,6 +9,8 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>ros_environment</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>