diff --git a/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp b/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp
index 1845e84dcb..7668e92779 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp
@@ -16,6 +16,7 @@
 #define RCLCPP__NODE_INTERFACES__NODE_INTERFACES_HPP_
 
 #include <memory>
+#include <stdexcept>
 
 #include "rclcpp/detail/template_unique.hpp"
 #include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp b/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
index 729a006b26..08a693f8f7 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
@@ -15,6 +15,7 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
 
+#include <functional>
 #include <map>
 #include <memory>
 #include <string>