diff --git a/planning/motion_velocity_smoother/package.xml b/planning/motion_velocity_smoother/package.xml
index 2550abdd03005..ba2a54e046db9 100644
--- a/planning/motion_velocity_smoother/package.xml
+++ b/planning/motion_velocity_smoother/package.xml
@@ -19,6 +19,7 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>libboost-dev</depend>