diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml
index 1425e72cdd886..069e85f45dabd 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml
@@ -18,7 +18,6 @@
   <depend>autoware_motion_velocity_planner_common_universe</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>autoware_route_handler</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>