diff --git a/rmf_task/CMakeLists.txt b/rmf_task/CMakeLists.txt
index a926a4c..0f888a8 100644
--- a/rmf_task/CMakeLists.txt
+++ b/rmf_task/CMakeLists.txt
@@ -42,6 +42,7 @@ add_library(rmf_task SHARED
 target_link_libraries(rmf_task
   PUBLIC
     rmf_battery::rmf_battery
+    rmf_traffic::rmf_traffic
     nlohmann_json::nlohmann_json
     Threads::Threads
     $<$<CXX_COMPILER_ID:GNU>:stdc++fs>
diff --git a/rmf_task/package.xml b/rmf_task/package.xml
index b6b0818..2dffadd 100644
--- a/rmf_task/package.xml
+++ b/rmf_task/package.xml
@@ -14,6 +14,7 @@
 
   <depend>rmf_battery</depend>
   <depend>rmf_utils</depend>
+  <depend>rmf_traffic</depend>
   <depend>nlohmann-json-dev</depend>
 
   <depend>eigen</depend>
diff --git a/rmf_task_sequence/CMakeLists.txt b/rmf_task_sequence/CMakeLists.txt
index f8402cc..a452f77 100644
--- a/rmf_task_sequence/CMakeLists.txt
+++ b/rmf_task_sequence/CMakeLists.txt
@@ -22,6 +22,7 @@ include(GNUInstallDirs)
 
 find_package(rmf_api_msgs REQUIRED)
 find_package(rmf_task REQUIRED)
+find_package(rmf_traffic REQUIRED)
 find_package(nlohmann_json REQUIRED)
 find_package(nlohmann_json_schema_validator_vendor REQUIRED)
 find_package(nlohmann_json_schema_validator REQUIRED)
@@ -41,6 +42,7 @@ add_library(rmf_task_sequence SHARED
 target_link_libraries(rmf_task_sequence
   PUBLIC
     rmf_task::rmf_task
+    rmf_traffic::rmf_traffic
     nlohmann_json::nlohmann_json
     nlohmann_json_schema_validator::validator
 )
diff --git a/rmf_task_sequence/cmake/rmf_task_sequence-config.cmake.in b/rmf_task_sequence/cmake/rmf_task_sequence-config.cmake.in
index 96c5865..18a8a52 100644
--- a/rmf_task_sequence/cmake/rmf_task_sequence-config.cmake.in
+++ b/rmf_task_sequence/cmake/rmf_task_sequence-config.cmake.in
@@ -5,6 +5,7 @@ get_filename_component(rmf_task_sequence_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}"
 include(CMakeFindDependencyMacro)
 
 find_dependency(rmf_task)
+find_dependency(rmf_traffic)
 find_dependency(nlohmann_json)
 find_dependency(nlohmann_json_schema_validator_vendor)
 find_dependency(nlohmann_json_schema_validator)
diff --git a/rmf_task_sequence/package.xml b/rmf_task_sequence/package.xml
index da6415f..b5dc76e 100644
--- a/rmf_task_sequence/package.xml
+++ b/rmf_task_sequence/package.xml
@@ -14,6 +14,7 @@
 
   <depend>rmf_api_msgs</depend>
   <depend>rmf_task</depend>
+  <depend>rmf_traffic</depend>
   <depend>nlohmann-json-dev</depend>
   <depend>nlohmann_json_schema_validator_vendor</depend>