diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
index 41ed4e52..d5e9cec8 100644
--- a/src/DepthCameraSensor.cc
+++ b/src/DepthCameraSensor.cc
@@ -28,6 +28,7 @@
 #include <gz/math/Angle.hh>
 #include <gz/math/Helpers.hh>
 
+#include <gz/msgs/PointCloudPackedUtils.hh>
 #include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
diff --git a/src/GpuLidarSensor.cc b/src/GpuLidarSensor.cc
index 83e44d0d..a5b45cb3 100644
--- a/src/GpuLidarSensor.cc
+++ b/src/GpuLidarSensor.cc
@@ -26,6 +26,7 @@
 
 #include <gz/common/Console.hh>
 #include <gz/common/Profiler.hh>
+#include <gz/msgs/PointCloudPackedUtils.hh>
 #include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
diff --git a/src/RgbdCameraSensor.cc b/src/RgbdCameraSensor.cc
index c6d7d482..8ca65409 100644
--- a/src/RgbdCameraSensor.cc
+++ b/src/RgbdCameraSensor.cc
@@ -25,6 +25,7 @@
 #include <gz/rendering/Camera.hh>
 #include <gz/rendering/DepthCamera.hh>
 
+#include <gz/msgs/PointCloudPackedUtils.hh>
 #include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>