diff --git a/package.xml b/package.xml
index 9d0634f89d90fc45d8d1a54c4cfb8bec3c47b884..675b5fa54b594f076a7f33b917956959c2cc765b 100644
--- a/package.xml
+++ b/package.xml
@@ -15,6 +15,9 @@
   <exec_depend>rospy</exec_depend>
   <exec_depend>rosbridge_library</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>python-inject-pip</exec_depend>
+  <exec_depend>python-msgpack</exec_depend>
+  <exec_depend>python-paho-mqtt</exec_depend>
 
   <export>
   </export>
diff --git a/requirements.txt b/requirements.txt
index e7038cfb171795c4891456ad15bc48025b2ab0dc..58cf7bd9ab8c960ea6a6c765923ca0c3e8375096 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,5 +1,3 @@
 inject>=3.3.1
-nose>=1.3.7
-nose-ignore-docstring>=0.2
 paho-mqtt>=1.2
 msgpack-python>=0.4.8