diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
index 9992bafaf9b..13a998023bc 100644
--- a/nav2_waypoint_follower/src/waypoint_follower.cpp
+++ b/nav2_waypoint_follower/src/waypoint_follower.cpp
@@ -19,6 +19,7 @@
 #include <streambuf>
 #include <string>
 #include <utility>
+#include <vector>
 
 namespace nav2_waypoint_follower
 {