diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index cde90494e0..a9d0f1bbd1 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -21,6 +21,7 @@
   <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
+  <exec_depend>tier4_perception_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
   <exec_depend>tier4_vehicle_launch</exec_depend>