diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml
index 135986f592663..edec3ac8fd6a1 100644
--- a/control/autoware_autonomous_emergency_braking/package.xml
+++ b/control/autoware_autonomous_emergency_braking/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_index_cpp</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>autoware_test_utils</test_depend>
diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml
index dc71ec6cc3830..fbe759547aba1 100644
--- a/control/autoware_control_validator/package.xml
+++ b/control/autoware_control_validator/package.xml
@@ -33,6 +33,7 @@
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_index_cpp</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>autoware_test_utils</test_depend>
diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml
index 6de26798c5813..848eb7d3b6d10 100644
--- a/control/autoware_trajectory_follower_node/package.xml
+++ b/control/autoware_trajectory_follower_node/package.xml
@@ -37,6 +37,7 @@
   <exec_depend>ros2launch</exec_depend>
 
   <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_index_cpp</test_depend>
   <test_depend>ament_index_python</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml
index a80bb2a4086b8..a5026a0edb3ef 100644
--- a/control/autoware_vehicle_cmd_gate/package.xml
+++ b/control/autoware_vehicle_cmd_gate/package.xml
@@ -39,6 +39,7 @@
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_index_cpp</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>