diff --git a/map/map_tf_generator/package.xml b/map/map_tf_generator/package.xml
index cd1ef98eb8014..e1f74fd40511d 100644
--- a/map/map_tf_generator/package.xml
+++ b/map/map_tf_generator/package.xml
@@ -12,7 +12,8 @@
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
-  <depend>std_msgs</depend>
+  <depend>rclcpp_components</depend>
+  <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>