diff --git a/meta-ros1-noetic/conf/ros-distro/include/noetic/ros-distro-recipe-blacklist.inc b/meta-ros1-noetic/conf/ros-distro/include/noetic/ros-distro-recipe-blacklist.inc
index b6df661d1c2..1b3db466297 100644
--- a/meta-ros1-noetic/conf/ros-distro/include/noetic/ros-distro-recipe-blacklist.inc
+++ b/meta-ros1-noetic/conf/ros-distro/include/noetic/ros-distro-recipe-blacklist.inc
@@ -864,7 +864,7 @@ PNBLACKLIST[wiimote] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'python-c
 PNBLACKLIST[wu-ros-tools] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['qt5', 'pyqt5', 'ogre'], 'qt5: pyqt5: Depends on easy-markers which depend on rviz which requires python-qt-binding which requires meta-qt5 to be included; ogre: depends on easy-markers whcih depends on rviz which depends on ogre which is not available', '', d)}"
 PNBLACKLIST[yosemite-valley] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'gazebo', 'Depends on gazebo, gazebo-ros which is not available', '', d)}"
 
-# Renamed to fuse-ros by symlink in recipes-bbappends/fuse to avoid conflict with
+# Renamed to fuse-ros in recipes-bbappends/fuse to avoid conflict with
 # meta-filesystems/recipes-support/fuse/fuse_2.9.9.bb
 BBMASK +=  "generated-recipes/fuse/fuse_0.4.2-1.bb"
 # And renamed fuse-doc to fuse-ros-doc to avoid conflict with PN-doc package created by fuse recipe
diff --git a/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros-doc_0.4.2-1.bb b/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros-doc_0.4.2-1.bb
deleted file mode 120000
index 5c3d5f1a2ae..00000000000
--- a/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros-doc_0.4.2-1.bb
+++ /dev/null
@@ -1 +0,0 @@
-../../generated-recipes/fuse/fuse-doc_0.4.2-1.bb
\ No newline at end of file
diff --git a/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros-doc_0.4.2-1.bb b/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros-doc_0.4.2-1.bb
new file mode 100644
index 00000000000..68291cba1e7
--- /dev/null
+++ b/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros-doc_0.4.2-1.bb
@@ -0,0 +1 @@
+require ../../generated-recipes/fuse/fuse-doc_${PV}.bb
diff --git a/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros_0.4.2-1.bb b/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros_0.4.2-1.bb
deleted file mode 120000
index dc76672dc68..00000000000
--- a/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros_0.4.2-1.bb
+++ /dev/null
@@ -1 +0,0 @@
-../../generated-recipes/fuse/fuse_0.4.2-1.bb
\ No newline at end of file
diff --git a/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros_0.4.2-1.bb b/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros_0.4.2-1.bb
new file mode 100644
index 00000000000..e5a3c15f2aa
--- /dev/null
+++ b/meta-ros1-noetic/recipes-bbappends/fuse/fuse-ros_0.4.2-1.bb
@@ -0,0 +1,4 @@
+require ../../generated-recipes/fuse/fuse_${PV}.bb
+
+ROS_EXEC_DEPENDS_remove = "fuse-doc"
+ROS_EXEC_DEPENDS += "fuse-ros-doc"
diff --git a/meta-ros1-noetic/recipes-core/packagegroups/packagegroup-ros-world-noetic.bb b/meta-ros1-noetic/recipes-core/packagegroups/packagegroup-ros-world-noetic.bb
index 4649377105e..78e1a8b01df 100644
--- a/meta-ros1-noetic/recipes-core/packagegroups/packagegroup-ros-world-noetic.bb
+++ b/meta-ros1-noetic/recipes-core/packagegroups/packagegroup-ros-world-noetic.bb
@@ -29,6 +29,10 @@ RDEPENDS_${PN} += "opencv-apps-ros"
 # with some patches applied on top of prbt-ikfast-manipulator-plugin source
 RDEPENDS_${PN}_remove = "moveit-resources-prbt-ikfast-manipulator-plugin"
 
+# Renamed to fuse-ros and fuse-ros-doc in recipes-bbappends/fuse to avoid conflict with
+# meta-filesystems/recipes-support/fuse/fuse_2.9.9.bb
+RDEPENDS_${PN}_remove = "fuse fuse-doc"
+
 # Requires Python 3; it is not used by any other ROS 1 package.
 RDEPENDS_${PN}_remove = "catkin-virtualenv"
 # Depends on blacklisted catkin-virtualenv