diff --git a/grid_map_rviz_plugin/CMakeLists.txt b/grid_map_rviz_plugin/CMakeLists.txt
index 92bb25b5..20dde11e 100644
--- a/grid_map_rviz_plugin/CMakeLists.txt
+++ b/grid_map_rviz_plugin/CMakeLists.txt
@@ -3,6 +3,7 @@ project(grid_map_rviz_plugin)
 
 find_package(ament_cmake REQUIRED)
 find_package(grid_map_cmake_helpers REQUIRED)
+find_package(grid_map_core REQUIRED)
 find_package(grid_map_msgs REQUIRED)
 find_package(grid_map_ros REQUIRED)
 find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
@@ -18,6 +19,7 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 set(CMAKE_AUTOMOC ON) # This setting causes Qt's "MOC" generation to happen automatically.
 
 set(dependencies
+  grid_map_core
   grid_map_msgs
   grid_map_ros
   rclcpp
diff --git a/grid_map_rviz_plugin/package.xml b/grid_map_rviz_plugin/package.xml
index 357a02da..3eed4a39 100644
--- a/grid_map_rviz_plugin/package.xml
+++ b/grid_map_rviz_plugin/package.xml
@@ -16,6 +16,7 @@
   <build_depend>grid_map_cmake_helpers</build_depend>
   <build_depend>qtbase5-dev</build_depend>
 
+  <depend>grid_map_core</depend>
   <depend>grid_map_msgs</depend>
   <depend>grid_map_ros</depend>
   <depend>rclcpp</depend>