diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml
index bae6cf02197f3..44a78ff274eca 100644
--- a/launch/tier4_autoware_api_launch/package.xml
+++ b/launch/tier4_autoware_api_launch/package.xml
@@ -16,6 +16,7 @@
   <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
   <exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
   <exec_depend>awapi_awiv_adapter</exec_depend>
+  <exec_depend>default_ad_api</exec_depend>
   <exec_depend>path_distance_calculator</exec_depend>
   <exec_depend>topic_tools</exec_depend>
 
diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
index e77c988f4ed26..13102ea5f9b70 100644
--- a/launch/tier4_localization_launch/package.xml
+++ b/launch/tier4_localization_launch/package.xml
@@ -12,6 +12,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <exec_depend>automatic_pose_initializer</exec_depend>
   <exec_depend>ekf_localizer</exec_depend>
   <exec_depend>gyro_odometer</exec_depend>
   <exec_depend>ndt_scan_matcher</exec_depend>