diff --git a/doc/examples/perception_pipeline/CMakeLists.txt b/doc/examples/perception_pipeline/CMakeLists.txt
index c053f4e48e..d7ce7fd68c 100644
--- a/doc/examples/perception_pipeline/CMakeLists.txt
+++ b/doc/examples/perception_pipeline/CMakeLists.txt
@@ -2,6 +2,7 @@ find_package(PCL REQUIRED)
 set(SUBTUTORIAL_DEPENDS
   geometry_msgs
   pcl_conversions
+  pcl_ros
   sensor_msgs
 )
 foreach(dep IN ITEMS ${SUBTUTORIAL_DEPENDS})
diff --git a/doc/examples/perception_pipeline/src/cylinder_segment.cpp b/doc/examples/perception_pipeline/src/cylinder_segment.cpp
index 6547b63ab3..45c00d96a8 100644
--- a/doc/examples/perception_pipeline/src/cylinder_segment.cpp
+++ b/doc/examples/perception_pipeline/src/cylinder_segment.cpp
@@ -273,7 +273,7 @@ class CylinderSegment : public rclcpp::Node
   }
 
 private:
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr subscription_;
 
   // BEGIN_SUB_TUTORIAL param_struct
   // There are 4 fields and a total of 7 parameters used to define this.