diff --git a/planning_launch/package.xml b/planning_launch/package.xml
index ccb151e6cb..e8e473ca5d 100644
--- a/planning_launch/package.xml
+++ b/planning_launch/package.xml
@@ -18,6 +18,7 @@
   <exec_depend>motion_velocity_smoother</exec_depend>
   <exec_depend>obstacle_avoidance_planner</exec_depend>
   <exec_depend>obstacle_stop_planner</exec_depend>
+  <exec_depend>obstacle_velocity_limiter</exec_depend>
   <exec_depend>scenario_selector</exec_depend>
   <exec_depend>surround_obstacle_checker</exec_depend>