diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml
index 1333da1d138b6..b6c5d41bc45a8 100644
--- a/launch/tier4_vehicle_launch/package.xml
+++ b/launch/tier4_vehicle_launch/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_raw_vehicle_cmd_converter</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>