diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml
index 54281358219d1..18dde41c99566 100644
--- a/evaluator/perception_online_evaluator/package.xml
+++ b/evaluator/perception_online_evaluator/package.xml
@@ -21,6 +21,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
+  <depend>lanelet2_extension</depend>
   <depend>libgoogle-glog-dev</depend>
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>