diff --git a/common/kalman_filter/package.xml b/common/kalman_filter/package.xml
index 29b62a08a6413..c7c31d1768ab4 100644
--- a/common/kalman_filter/package.xml
+++ b/common/kalman_filter/package.xml
@@ -15,6 +15,7 @@
 
   <build_depend>autoware_cmake</build_depend>
   <build_depend>eigen3_cmake_module</build_depend>
+  <build_depend>eigen</build_depend>
 
   <test_depend>ament_cmake_cppcheck</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml
index b1317d9dcb90d..f13f05c614620 100644
--- a/perception/detected_object_validation/package.xml
+++ b/perception/detected_object_validation/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <build_depend>autoware_cmake</build_depend>
+  <build_depend>libopencv-dev</build_depend>
 
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_perception_msgs</depend>
diff --git a/sensing/gnss_poser/package.xml b/sensing/gnss_poser/package.xml
index c551f8001001a..250122b929e7f 100644
--- a/sensing/gnss_poser/package.xml
+++ b/sensing/gnss_poser/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <build_depend>autoware_cmake</build_depend>
+  <build_depend>libboost-dev</build_depend>
 
   <depend>autoware_sensing_msgs</depend>
   <depend>geo_pos_conv</depend>
diff --git a/system/dummy_infrastructure/package.xml b/system/dummy_infrastructure/package.xml
index bc1fad3a8e339..a361656545306 100644
--- a/system/dummy_infrastructure/package.xml
+++ b/system/dummy_infrastructure/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <build_depend>autoware_cmake</build_depend>
+  <build_depend>libboost-dev</build_depend>
 
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml
index 30a4af4af4926..eade23a610eea 100644
--- a/system/system_monitor/package.xml
+++ b/system/system_monitor/package.xml
@@ -11,6 +11,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <build_depend>autoware_cmake</build_depend>
+  <build_depend>libboost-serialization-dev</build_depend>
+  <build_depend>libboost-thread-dev</build_depend>
 
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>