diff --git a/rmw_implementation/package.xml b/rmw_implementation/package.xml
index 3e4ec67a..7b500f34 100644
--- a/rmw_implementation/package.xml
+++ b/rmw_implementation/package.xml
@@ -23,6 +23,7 @@
   <build_depend>rmw_connext_cpp</build_depend>
   <build_depend>rmw_cyclonedds_cpp</build_depend>
   <build_depend>rmw_fastrtps_cpp</build_depend>
+  <build_depend>rmw_fastrtps_dynamic_cpp</build_depend>
   <!-- end of group dependencies added for bloom -->
 
   <depend>rmw_implementation_cmake</depend>