diff --git a/pcl_conversions/package.xml b/pcl_conversions/package.xml
index 06a2ebd9..a3662bac 100644
--- a/pcl_conversions/package.xml
+++ b/pcl_conversions/package.xml
@@ -21,14 +21,18 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>libpcl-all-dev</build_depend>
+
   <depend>eigen</depend>
-  <depend>libpcl-all-dev</depend>
   <depend>message_filters</depend>
   <depend>pcl_msgs</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
 
+  <exec_depend>libpcl-common</exec_depend>
+  <exec_depend>libpcl-io</exec_depend>
+
   <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
diff --git a/pcl_ros/package.xml b/pcl_ros/package.xml
index 81b1c6cb..566b1b6d 100644
--- a/pcl_ros/package.xml
+++ b/pcl_ros/package.xml
@@ -26,8 +26,10 @@
   <author email="william@osrfoundation.org">William Woodall</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>libpcl-all-dev</build_depend>
+
   <depend>eigen</depend>
-  <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
@@ -37,6 +39,13 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
 
+  <exec_depend>libpcl-common</exec_depend>
+  <exec_depend>libpcl-features</exec_depend>
+  <exec_depend>libpcl-filters</exec_depend>
+  <exec_depend>libpcl-io</exec_depend>
+  <exec_depend>libpcl-segmentation</exec_depend>
+  <exec_depend>libpcl-surface</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>