diff --git a/rcl/package.xml b/rcl/package.xml
index 508fda471..9e758caad 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -28,6 +28,7 @@
   <exec_depend>rcutils</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
+  <depend>rcl_logging_log4cxx</depend> <!-- the default logging impl -->
   <depend>rmw_implementation</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>