diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml
index 85a57324b6851..69dddcee28f67 100644
--- a/launch/tier4_simulator_launch/package.xml
+++ b/launch/tier4_simulator_launch/package.xml
@@ -15,8 +15,15 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>autoware_dummy_perception_publisher</exec_depend>
+  <exec_depend>autoware_elevation_map_loader</exec_depend>
   <exec_depend>autoware_fault_injection</exec_depend>
+  <exec_depend>autoware_perception_online_evaluator</exec_depend>
+  <exec_depend>autoware_pose_initializer</exec_depend>
   <exec_depend>autoware_simple_planning_simulator</exec_depend>
+  <exec_depend>autoware_vehicle_door_simulator</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
+  <exec_depend>tier4_localization_launch</exec_depend>
+  <exec_depend>tier4_perception_launch</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>