diff --git a/planning/planning_test_utils/package.xml b/planning/planning_test_utils/package.xml
index f39942aa16d6a..47540d6d3751f 100644
--- a/planning/planning_test_utils/package.xml
+++ b/planning/planning_test_utils/package.xml
@@ -28,6 +28,7 @@
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>route_handler</depend>
   <depend>tf2_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_api_msgs</depend>