diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
index a760c3bd950e3..c96ad1e2135c1 100644
--- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml
+++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>