diff --git a/rcl/package.xml b/rcl/package.xml
index 493e2c1..5f921a3 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -18,6 +18,8 @@
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rosidl_generator_c</build_export_depend>
 
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
   <depend>rmw_implementation</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>