diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml
index 8d9b3d90d9fa1..900e1c55b48dc 100644
--- a/launch/tier4_control_launch/package.xml
+++ b/launch/tier4_control_launch/package.xml
@@ -12,6 +12,7 @@
   <build_depend>autoware_cmake</build_depend>
 
   <exec_depend>external_cmd_converter</exec_depend>
+  <exec_depend>external_cmd_selector</exec_depend>
   <exec_depend>lane_departure_checker</exec_depend>
   <exec_depend>shift_decider</exec_depend>
   <exec_depend>trajectory_follower</exec_depend>
diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
index 7033ab6aa87af..45e2e186336a1 100644
--- a/launch/tier4_planning_launch/package.xml
+++ b/launch/tier4_planning_launch/package.xml
@@ -67,6 +67,7 @@
   <exec_depend>obstacle_cruise_planner</exec_depend>
   <exec_depend>obstacle_stop_planner</exec_depend>
   <exec_depend>planning_error_monitor</exec_depend>
+  <exec_depend>rtc_auto_mode_manager</exec_depend>
   <exec_depend>scenario_selector</exec_depend>
   <exec_depend>surround_obstacle_checker</exec_depend>