diff --git a/grid_map_costmap_2d/CMakeLists.txt b/grid_map_costmap_2d/CMakeLists.txt
index 201c8760..0f37c4a0 100644
--- a/grid_map_costmap_2d/CMakeLists.txt
+++ b/grid_map_costmap_2d/CMakeLists.txt
@@ -7,6 +7,7 @@ find_package(grid_map_cmake_helpers REQUIRED)
 find_package(grid_map_core REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 
diff --git a/grid_map_costmap_2d/test/CMakeLists.txt b/grid_map_costmap_2d/test/CMakeLists.txt
index 99953741..99f19c9e 100644
--- a/grid_map_costmap_2d/test/CMakeLists.txt
+++ b/grid_map_costmap_2d/test/CMakeLists.txt
@@ -5,6 +5,8 @@ ament_add_gtest(${PROJECT_NAME}-test
 
 target_link_libraries(${PROJECT_NAME}-test
   ${PROJECT_NAME}::${PROJECT_NAME}
+  tf2_ros::tf2_ros
+  rclcpp::rclcpp
 )
 
 ament_add_gtest(costmap-2d-ros-test