diff --git a/src/perception_pkg/package.xml b/src/perception_pkg/package.xml
index 608e576..45921da 100755
--- a/src/perception_pkg/package.xml
+++ b/src/perception_pkg/package.xml
@@ -12,6 +12,10 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
+  <!-- The manager starts these packages from the vehicle configuration. -->
+  <exec_depend>perception2d_pkg</exec_depend>
+  <exec_depend>perception3d_pkg</exec_depend>
+
   <export>
     <build_type>ament_python</build_type>
   </export>