diff --git a/common/autoware_auto_perception_rviz_plugin/package.xml b/common/autoware_auto_perception_rviz_plugin/package.xml
index a1f184a15e7a8..aec99ef805f5f 100644
--- a/common/autoware_auto_perception_rviz_plugin/package.xml
+++ b/common/autoware_auto_perception_rviz_plugin/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>autoware_cmake</build_depend>
+  <build_depend>libboost-dev</build_depend>
   <build_depend>qtbase5-dev</build_depend>
 
   <depend>autoware_auto_perception_msgs</depend>