diff --git a/planning/behavior_velocity_blind_spot_module/src/debug.cpp b/planning/behavior_velocity_blind_spot_module/src/debug.cpp
index f95ed73c2a184..7da494bfd5231 100644
--- a/planning/behavior_velocity_blind_spot_module/src/debug.cpp
+++ b/planning/behavior_velocity_blind_spot_module/src/debug.cpp
@@ -19,6 +19,8 @@
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+
 #include <tf2/utils.h>
 
 #include <string>