diff --git a/planning/mission_planner/package.xml b/planning/mission_planner/package.xml
index af694b93438c9..cd361dd20417c 100644
--- a/planning/mission_planner/package.xml
+++ b/planning/mission_planner/package.xml
@@ -14,6 +14,7 @@
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
+  <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>