diff --git a/Tools/ros2/ardupilot_sitl/package.xml b/Tools/ros2/ardupilot_sitl/package.xml
index 21ae2dfa29..2c3a375695 100644
--- a/Tools/ros2/ardupilot_sitl/package.xml
+++ b/Tools/ros2/ardupilot_sitl/package.xml
@@ -11,6 +11,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
+  <exec_depend>micro_ros_agent</exec_depend>
+
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>