diff --git a/rcl/package.xml b/rcl/package.xml
index f55fd8df6..cae0e9a61 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -36,6 +36,7 @@
   <test_depend>ament_lint_common</test_depend>
   <test_depend>rmw</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
   <test_depend>test_msgs</test_depend>
diff --git a/rcl_yaml_param_parser/package.xml b/rcl_yaml_param_parser/package.xml
index 9a7136e9e..8c659e7b6 100644
--- a/rcl_yaml_param_parser/package.xml
+++ b/rcl_yaml_param_parser/package.xml
@@ -17,7 +17,6 @@
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>launch_testing</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>