diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml
index 525b1f3eb0699..3e11e06413c60 100644
--- a/sensing/autoware_pointcloud_preprocessor/package.xml
+++ b/sensing/autoware_pointcloud_preprocessor/package.xml
@@ -35,9 +35,11 @@
   <depend>cv_bridge</depend>
   <depend>diagnostic_updater</depend>
   <depend>image_transport</depend>
+  <depend>libgmp</depend>
   <depend>libopencv-dev</depend>
   <depend>libpcl-all-dev</depend>
   <depend>message_filters</depend>
+  <depend>mpfr</depend>
   <depend>nav_msgs</depend>
   <depend>pcl_conversions</depend>
   <depend>pcl_msgs</depend>