diff --git a/planning/static_centerline_optimizer/CMakeLists.txt b/planning/static_centerline_optimizer/CMakeLists.txt
index a2091dffd061a..829c06c1fba12 100644
--- a/planning/static_centerline_optimizer/CMakeLists.txt
+++ b/planning/static_centerline_optimizer/CMakeLists.txt
@@ -7,8 +7,6 @@ find_package(builtin_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(OpenCV REQUIRED)
 
 rosidl_generate_interfaces(
   static_centerline_optimizer
@@ -27,16 +25,6 @@ ament_auto_add_executable(main
   src/utils.cpp
 )
 
-target_include_directories(main
-  SYSTEM PUBLIC
-    ${OpenCV_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIR}
-)
-
-target_link_libraries(main
-  ${OpenCV_LIBRARIES}
-)
-
 if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
     rosidl_target_interfaces(main
     static_centerline_optimizer "rosidl_typesupport_cpp")
diff --git a/planning/static_centerline_optimizer/package.xml b/planning/static_centerline_optimizer/package.xml
index 17191868b7418..363c88bebf0ea 100644
--- a/planning/static_centerline_optimizer/package.xml
+++ b/planning/static_centerline_optimizer/package.xml
@@ -18,8 +18,7 @@
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
-  <depend>behavior_path_planner</depend>
-  <depend>behavior_velocity_planner</depend>
+  <depend>behavior_path_planner_common</depend>
   <depend>geometry_msgs</depend>
   <depend>global_parameter_loader</depend>
   <depend>interpolation</depend>
@@ -43,6 +42,8 @@
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
+  <test_depend>behavior_path_planner</test_depend>
+  <test_depend>behavior_velocity_planner</test_depend>
   <test_depend>ros_testing</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>