diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml
index f8c13820..5ce02f5e 100644
--- a/aip_x1_launch/package.xml
+++ b/aip_x1_launch/package.xml
@@ -17,6 +17,8 @@
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
   <exec_depend>usb_cam</exec_depend>
+  <exec_depend>imu_corrector</exec_depend>
+  <exec_depend>vehicle_velocity_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml
index 56b2ef8b..95c54d47 100644
--- a/aip_x2_launch/package.xml
+++ b/aip_x2_launch/package.xml
@@ -19,6 +19,8 @@
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
   <exec_depend>usb_cam</exec_depend>
+  <exec_depend>imu_corrector</exec_depend>
+  <exec_depend>vehicle_velocity_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
index ab216a7d..dfb3b78d 100644
--- a/aip_xx1_launch/package.xml
+++ b/aip_xx1_launch/package.xml
@@ -19,6 +19,8 @@
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
   <exec_depend>usb_cam</exec_depend>
+  <exec_depend>imu_corrector</exec_depend>
+  <exec_depend>vehicle_velocity_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>