diff --git a/rclpy/package.xml b/rclpy/package.xml
index 80069b748..65469a89d 100644
--- a/rclpy/package.xml
+++ b/rclpy/package.xml
@@ -38,6 +38,7 @@
   <exec_depend>action_msgs</exec_depend>
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>python3-yaml</exec_depend>
   <exec_depend>rosgraph_msgs</exec_depend>
   <exec_depend>rpyutils</exec_depend>