diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index 2d007ae8c5ff0..c74ef297aba6b 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_map_based_prediction</exec_depend>
   <exec_depend>cluster_merger</exec_depend>
   <exec_depend>compare_map_segmentation</exec_depend>
   <exec_depend>crosswalk_traffic_light_estimator</exec_depend>
@@ -23,7 +24,6 @@
   <exec_depend>image_projection_based_fusion</exec_depend>
   <exec_depend>image_transport_decompressor</exec_depend>
   <exec_depend>lidar_apollo_instance_segmentation</exec_depend>
-  <exec_depend>map_based_prediction</exec_depend>
   <exec_depend>multi_object_tracker</exec_depend>
   <exec_depend>object_merger</exec_depend>
   <exec_depend>object_range_splitter</exec_depend>