diff --git a/perception/multi_object_tracker/package.xml b/perception/multi_object_tracker/package.xml
index e3172dfd22349..992b1f5e2a123 100644
--- a/perception/multi_object_tracker/package.xml
+++ b/perception/multi_object_tracker/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_auto_perception_msgs</depend>
+  <depend>diagnostic_updater</depend>
   <depend>eigen</depend>
   <depend>kalman_filter</depend>
   <depend>mussp</depend>