diff --git a/autoware_utils/package.xml b/autoware_utils/package.xml
index 694c275e..e22b6769 100644
--- a/autoware_utils/package.xml
+++ b/autoware_utils/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>builtin_interfaces</depend>
+  <depend>libboost-system-dev</depend>
   <depend>rclcpp</depend>
   <depend>unique_identifier_msgs</depend>
 
diff --git a/tmp/lanelet2_extension/lib/utilities.cpp b/tmp/lanelet2_extension/lib/utilities.cpp
index f84e9a43..8dbf5145 100644
--- a/tmp/lanelet2_extension/lib/utilities.cpp
+++ b/tmp/lanelet2_extension/lib/utilities.cpp
@@ -213,6 +213,9 @@ lanelet::LineString3d getLineStringFromArcLength(
   lanelet::Points3d points;
   double accumulated_length = 0;
   size_t start_index = linestring.size();
+  if (start_index == 0) {
+    return lanelet::LineString3d{lanelet::InvalId, points};
+  }
   for (size_t i = 0; i < linestring.size() - 1; i++) {
     const auto & p1 = linestring[i];
     const auto & p2 = linestring[i + 1];