diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml
index 000ed4df77f47..6a852303472a8 100644
--- a/planning/autoware_static_centerline_generator/package.xml
+++ b/planning/autoware_static_centerline_generator/package.xml
@@ -33,6 +33,7 @@
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>global_parameter_loader</depend>
+  <depend>grid_map_core</depend>
   <depend>map_loader</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
index 4dc4876010555..0795d8ed4651f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -46,6 +46,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
+  <depend>grid_map_core</depend>
   <depend>libboost-dev</depend>
   <depend>pcl_conversions</depend>
   <depend>pluginlib</depend>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
index 3e68d8262aae9..567c2b346021a 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
@@ -27,6 +27,7 @@
   <depend>autoware_velocity_smoother</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
+  <depend>grid_map_core</depend>
   <depend>libboost-dev</depend>
   <depend>pcl_conversions</depend>
   <depend>pluginlib</depend>