diff --git a/system/rqt_diagnostic_graph_monitor/package.xml b/system/rqt_diagnostic_graph_monitor/package.xml
index 60780e27..c0f42c38 100644
--- a/system/rqt_diagnostic_graph_monitor/package.xml
+++ b/system/rqt_diagnostic_graph_monitor/package.xml
@@ -10,9 +10,12 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>diagnostic_msgs</exec_depend>
   <exec_depend>python_qt_binding</exec_depend>
+  <exec_depend>rclpy</exec_depend>
   <exec_depend>rqt_gui</exec_depend>
   <exec_depend>rqt_gui_py</exec_depend>
+  <exec_depend>tier4_system_msgs</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>