diff --git a/package.xml b/package.xml
index de43c538101cdb9822e207f24ef42eb7766058f3..d6a9f8fe8159c6db09d76854da425df8ed871ef5 100644
--- a/package.xml
+++ b/package.xml
@@ -49,29 +49,18 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>tf2_ros</build_depend>
-  <!-- <build_depend>roslib</build_depend> -->
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>nav_msgs</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>tf</build_export_depend>
-  <build_export_depend>tf2_ros</build_export_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>tf</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
-  <!-- <exec_depend>roslib</exec_depend> -->
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>tf</depend>
+  <depend>tf2_ros</depend>
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>message_runtime</build_export_depend>
+  <exec_depend>message_runtime</exec_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>