diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/probabilistic_occupancy_grid_map/package.xml
index a90ae78b03597..3efed07535504 100644
--- a/perception/probabilistic_occupancy_grid_map/package.xml
+++ b/perception/probabilistic_occupancy_grid_map/package.xml
@@ -34,6 +34,7 @@
   <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
+  <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>pointcloud_to_laserscan</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
@@ -44,6 +45,7 @@
   <test_depend>launch_testing</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
+  <test_depend>pointcloud_preprocessor</test_depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>