diff --git a/common/tensorrt_common/CMakeLists.txt b/common/tensorrt_common/CMakeLists.txt
index cb24448f1a993..952ff9a07d448 100644
--- a/common/tensorrt_common/CMakeLists.txt
+++ b/common/tensorrt_common/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(TENSORRT)
 
 if(NOT (CUDAToolkit_FOUND AND CUDNN_FOUND AND TENSORRT_FOUND))
   message(WARNING "cuda, cudnn, tensorrt libraries are not found")
+  ament_package()
   return()
 endif()
 
diff --git a/perception/tensorrt_classifier/CMakeLists.txt b/perception/tensorrt_classifier/CMakeLists.txt
index 9f879a2c0c56d..5ec799aa8a3cd 100644
--- a/perception/tensorrt_classifier/CMakeLists.txt
+++ b/perception/tensorrt_classifier/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(OpenCV REQUIRED)
 
 if(NOT (${CUDA_FOUND} AND ${CUDNN_FOUND} AND ${TENSORRT_FOUND}))
   message(WARNING "cuda, cudnn, tensorrt libraries are not found")
+  ament_auto_package()
   return()
 endif()