diff --git a/navigation2/package.xml b/navigation2/package.xml
index a70c869198..35e61399a3 100644
--- a/navigation2/package.xml
+++ b/navigation2/package.xml
@@ -36,6 +36,7 @@
   <exec_depend>nav2_smoother</exec_depend>
   <exec_depend>nav2_theta_star_planner</exec_depend>
   <exec_depend>nav2_util</exec_depend>
+  <exec_depend>nav2_velocity_smoother</exec_depend>
   <exec_depend>nav2_voxel_grid</exec_depend>
   <exec_depend>nav2_waypoint_follower</exec_depend>