diff --git a/map/map_projection_loader/package.xml b/map/map_projection_loader/package.xml
index 823cea064515b..03053533d3ead 100644
--- a/map/map_projection_loader/package.xml
+++ b/map/map_projection_loader/package.xml
@@ -18,6 +18,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tier4_map_msgs</depend>
+  <depend>yaml-cpp</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>