diff --git a/common/autoware_interpolation/package.xml b/common/autoware_interpolation/package.xml
index 92dfe0b3d3..27884774d1 100644
--- a/common/autoware_interpolation/package.xml
+++ b/common/autoware_interpolation/package.xml
@@ -13,6 +13,9 @@
 
   <depend>autoware_utils</depend>
   <depend>eigen</depend>
+  <depend>geometry_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>