diff --git a/planning/sampling_based_planner/sampler_common/include/sampler_common/constraints/hard_constraint.hpp b/planning/sampling_based_planner/sampler_common/include/sampler_common/constraints/hard_constraint.hpp
index d5fd66618e79f..652167ad94e75 100644
--- a/planning/sampling_based_planner/sampler_common/include/sampler_common/constraints/hard_constraint.hpp
+++ b/planning/sampling_based_planner/sampler_common/include/sampler_common/constraints/hard_constraint.hpp
@@ -17,6 +17,7 @@
 
 #include "sampler_common/structures.hpp"
 
+#include <vector>
 namespace sampler_common::constraints
 {
 /// @brief Check if the path satisfies the hard constraints