diff --git a/src/pi/pixhawk_communication/package.xml b/src/pi/pixhawk_communication/package.xml
index 20b5632f..a8d4de11 100644
--- a/src/pi/pixhawk_communication/package.xml
+++ b/src/pi/pixhawk_communication/package.xml
@@ -11,7 +11,7 @@
   <test_depend>python3-pre-commit</test_depend>
   <test_depend>python3-pytest</test_depend>
 
-  <depend>mavros</depend>
+  <exec_depend>mavros</exec_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/src/surface/flight_control/package.xml b/src/surface/flight_control/package.xml
index b08fa416..d694d08e 100644
--- a/src/surface/flight_control/package.xml
+++ b/src/surface/flight_control/package.xml
@@ -18,7 +18,7 @@
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch_testing</test_depend>
 
-  <depend>mavros</depend>
+  <exec_depend>mavros_msgs</exec_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/src/surface/gui/package.xml b/src/surface/gui/package.xml
index 443ab566..d6141652 100644
--- a/src/surface/gui/package.xml
+++ b/src/surface/gui/package.xml
@@ -11,14 +11,14 @@
   <test_depend>python3-pre-commit</test_depend>
   <test_depend>python3-pytest</test_depend>
 
-  <exec_depend>rov_msgs</exec_depend>
   <exec_depend>python3-numpy</exec_depend>
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>python3-pyqtgraph</exec_depend>
   <exec_depend>pyqt6-dev-tools</exec_depend>
   <exec_depend>python3-pyqt6.qtmultimedia</exec_depend>
 
-  <depend>mavros</depend>
+  <exec_depend>rov_msgs</exec_depend>
+  <exec_depend>mavros_msgs</exec_depend>
 
   <export>
     <build_type>ament_python</build_type>