diff --git a/navigation2/package.xml b/navigation2/package.xml
index 46b75dc5df..1d29ba9dff 100644
--- a/navigation2/package.xml
+++ b/navigation2/package.xml
@@ -34,6 +34,7 @@
   <exec_depend>nav2_smac_planner</exec_depend>
   <exec_depend>nav2_regulated_pure_pursuit_controller</exec_depend>
   <exec_depend>nav2_rotation_shim_controller</exec_depend>
+  <exec_depend>nav2_theta_star_planner</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>