diff --git a/.github/workflows/deploy_workflow.yaml b/.github/workflows/deploy_workflow.yaml
index f63bf5a84..e74935a7f 100644
--- a/.github/workflows/deploy_workflow.yaml
+++ b/.github/workflows/deploy_workflow.yaml
@@ -51,6 +51,7 @@ jobs:
           odom_frame_publisher,
           ouxt_common,
           pcl_apps,
+          pcl_type_adapter,
           perception_bringup,
           perception_camera_driver,
           perception_msgs,
diff --git a/ansible/roles/clone_packages/tasks/main.yml b/ansible/roles/clone_packages/tasks/main.yml
index 20eb0eec8..17c11bf32 100644
--- a/ansible/roles/clone_packages/tasks/main.yml
+++ b/ansible/roles/clone_packages/tasks/main.yml
@@ -76,6 +76,12 @@
     version: feature/opencv_vendor
     accept_hostkey: yes
   tags: [perception]
+- name: clone pcl_type_adapter
+  git:
+    repo: https://github.com/OUXT-Polaris/pcl_type_adapter.git
+    dest: "{{workspace_path}}/src/perception/pcl_type_adapter"
+    version: master
+    accept_hostkey: yes
 
 # Planning Packages
 - name : clone hermite_path_planner
diff --git a/docs/docs/packages.md b/docs/docs/packages.md
index f714ff022..05390c64e 100644
--- a/docs/docs/packages.md
+++ b/docs/docs/packages.md
@@ -2,4 +2,4 @@
 
 ## dashboard
 
-@github_dashboard(OUXT-Polaris/color_names,OUXT-Polaris/data_buffer,OUXT-Polaris/dynamixel_hardware_interface,OUXT-Polaris/geographic_conversion,OUXT-Polaris/geographic_info,OUXT-Polaris/hermite_path_planner,OUXT-Polaris/image_processing_utils,OUXT-Polaris/joy_to_twist,OUXT-Polaris/lua_vendor,OUXT-Polaris/message_synchronizer,OUXT-Polaris/miniv_control,OUXT-Polaris/miniv_description,OUXT-Polaris/navi_sim,OUXT-Polaris/nmea_gps_driver,OUXT-Polaris/nmea_hardware_interface,OUXT-Polaris/nmea_to_geopose,OUXT-Polaris/odom_frame_publisher,OUXT-Polaris/ouxt_common,OUXT-Polaris/pcl_apps,OUXT-Polaris/perception_bringup,OUXT-Polaris/playstation_controller_drivers,OUXT-Polaris/quaternion_operation,OUXT-Polaris/robotx_behavior_tree,OUXT-Polaris/robotx_communication,OUXT-Polaris/robotx_costmap_calculator,OUXT-Polaris/robotx_ekf,OUXT-Polaris/scan_segmentation,OUXT-Polaris/sol_vendor,OUXT-Polaris/tcp_sender,OUXT-Polaris/usv_controller,OUXT-Polaris/detic_onnx_ros2)
\ No newline at end of file
+@github_dashboard(OUXT-Polaris/color_names,OUXT-Polaris/data_buffer,OUXT-Polaris/dynamixel_hardware_interface,OUXT-Polaris/geographic_conversion,OUXT-Polaris/geographic_info,OUXT-Polaris/hermite_path_planner,OUXT-Polaris/image_processing_utils,OUXT-Polaris/joy_to_twist,OUXT-Polaris/lua_vendor,OUXT-Polaris/message_synchronizer,OUXT-Polaris/miniv_control,OUXT-Polaris/miniv_description,OUXT-Polaris/navi_sim,OUXT-Polaris/nmea_gps_driver,OUXT-Polaris/nmea_hardware_interface,OUXT-Polaris/nmea_to_geopose,OUXT-Polaris/odom_frame_publisher,OUXT-Polaris/ouxt_common,OUXT-Polaris/pcl_apps,OUXT-Polaris/pcl_type_adapter,OUXT-Polaris/perception_bringup,OUXT-Polaris/playstation_controller_drivers,OUXT-Polaris/quaternion_operation,OUXT-Polaris/robotx_behavior_tree,OUXT-Polaris/robotx_communication,OUXT-Polaris/robotx_costmap_calculator,OUXT-Polaris/robotx_ekf,OUXT-Polaris/scan_segmentation,OUXT-Polaris/sol_vendor,OUXT-Polaris/tcp_sender,OUXT-Polaris/usv_controller,OUXT-Polaris/detic_onnx_ros2)
\ No newline at end of file