diff --git a/src/priority_executor/CMakeLists.txt b/src/priority_executor/CMakeLists.txt
index e6ec3da..2bceac0 100755
--- a/src/priority_executor/CMakeLists.txt
+++ b/src/priority_executor/CMakeLists.txt
@@ -13,6 +13,7 @@ endif()
 
 # Find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(tracetools REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rmw REQUIRED)
@@ -35,6 +36,7 @@ target_include_directories(priority_executor PUBLIC
   $<INSTALL_INTERFACE:include>
 )
 ament_target_dependencies(priority_executor
+  tracetools
   rmw
   rclcpp
   rcl
@@ -54,6 +56,7 @@ target_link_libraries(usage_example
   priority_executor
 )
 ament_target_dependencies(usage_example
+  tracetools
   rclcpp
   std_msgs
   std_srvs
diff --git a/src/priority_executor/package.xml b/src/priority_executor/package.xml
index faaedb5..0567034 100755
--- a/src/priority_executor/package.xml
+++ b/src/priority_executor/package.xml
@@ -11,6 +11,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>tracetools</depend>
   <depend>rclcpp</depend>
   <depend>rcl</depend>
   <depend>rmw</depend>