diff --git a/rclcpp/test/test_parameter_map.cpp b/rclcpp/test/test_parameter_map.cpp
index 1d56d93d9e..3f54e4c879 100644
--- a/rclcpp/test/test_parameter_map.cpp
+++ b/rclcpp/test/test_parameter_map.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
+#include <rcl/allocator.h>
 #include <rcl_yaml_param_parser/parser.h>
 #include <rcutils/strdup.h>