diff --git a/system/component_state_monitor/package.xml b/system/component_state_monitor/package.xml
index c841bf47dab9d..310de4fcc0016 100644
--- a/system/component_state_monitor/package.xml
+++ b/system/component_state_monitor/package.xml
@@ -19,6 +19,8 @@
   <depend>rclcpp_components</depend>
   <depend>tier4_system_msgs</depend>
 
+  <exec_depend>topic_state_monitor</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>