diff --git a/common/cuda_utils/CMakeLists.txt b/common/cuda_utils/CMakeLists.txt
index c0115bc9f3b89..e5e89ed9cfb3c 100644
--- a/common/cuda_utils/CMakeLists.txt
+++ b/common/cuda_utils/CMakeLists.txt
@@ -4,7 +4,12 @@ project(cuda_utils)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-find_package(CUDA REQUIRED)
+find_package(CUDA)
+
+if(NOT ${CUDA_FOUND})
+  message(WARNING "cuda is not found, so the cuda_utils package won't be built.")
+  return()
+endif()
 
 install(
   DIRECTORY include/${PROJECT_NAME}/
diff --git a/common/tensorrt_common/CMakeLists.txt b/common/tensorrt_common/CMakeLists.txt
index 49a2e40dd8234..1714c5a44f7eb 100644
--- a/common/tensorrt_common/CMakeLists.txt
+++ b/common/tensorrt_common/CMakeLists.txt
@@ -4,9 +4,9 @@ project(tensorrt_common)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-find_package(CUDA REQUIRED)
-find_package(CUDNN REQUIRED)
-find_package(TENSORRT REQUIRED)
+find_package(CUDA)
+find_package(CUDNN)
+find_package(TENSORRT)
 
 if(NOT (${CUDA_FOUND} AND ${CUDNN_FOUND} AND ${TENSORRT_FOUND}))
   message(WARNING "cuda, cudnn, tensorrt libraries are not found")
diff --git a/perception/tensorrt_yolox/CMakeLists.txt b/perception/tensorrt_yolox/CMakeLists.txt
index 6b0719a814893..1da3d9b0ca68a 100644
--- a/perception/tensorrt_yolox/CMakeLists.txt
+++ b/perception/tensorrt_yolox/CMakeLists.txt
@@ -1,6 +1,12 @@
 cmake_minimum_required(VERSION 3.5)
 project(tensorrt_yolox)
 
+find_package(tensorrt_common)
+if(NOT ${tensorrt_common_FOUND})
+  message(WARNING "The tensorrt_common package is not found. Please check its dependencies.")
+  return()
+endif()
+
 find_package(autoware_cmake REQUIRED)
 autoware_package()