diff --git a/tesseract_common/include/tesseract_common/type_erasure.h b/tesseract_common/include/tesseract_common/type_erasure.h
index 166cb0ccc51..82e5c56e7ce 100644
--- a/tesseract_common/include/tesseract_common/type_erasure.h
+++ b/tesseract_common/include/tesseract_common/type_erasure.h
@@ -28,6 +28,7 @@
 
 #include <memory>
 #include <typeindex>
+#include <stdexcept>
 #include <boost/stacktrace.hpp>
 #include <boost/core/demangle.hpp>
 #include <boost/serialization/base_object.hpp>