diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_task.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_task.h
index 8e59bee3122..7ae25fc7186 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_task.h
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_task.h
@@ -31,6 +31,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <string>
 #include <vector>
 #include <memory>
+#include <optional>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_node.h>