diff --git a/package.xml b/package.xml
index 666fd348468b95989583566d2825d5d8023a49e5..2a4c84ea878a7e321f85c6390af6eb7824e713e8 100644
--- a/package.xml
+++ b/package.xml
@@ -17,8 +17,8 @@
   <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
   <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
-  <depend>boost</depend>
-  <depend>pinocchio</depend>
+  <exec_depend>pinocchio</exec_depend>
+  <test_depend>pinocchio</test_depend>
 
   <buildtool_depend>cmake</buildtool_depend>
   <export>