diff --git a/perception/crosswalk_traffic_light_estimator/package.xml b/perception/crosswalk_traffic_light_estimator/package.xml
index 3f1bdb6880bd..d4147643eb7b 100644
--- a/perception/crosswalk_traffic_light_estimator/package.xml
+++ b/perception/crosswalk_traffic_light_estimator/package.xml
@@ -14,6 +14,7 @@
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/perception/traffic_light_map_based_detector/package.xml b/perception/traffic_light_map_based_detector/package.xml
index 4da85f41816e..46220572ae9a 100644
--- a/perception/traffic_light_map_based_detector/package.xml
+++ b/perception/traffic_light_map_based_detector/package.xml
@@ -14,6 +14,7 @@
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>image_geometry</depend>
   <depend>lanelet2_extension</depend>