diff --git a/roseus/package.xml b/roseus/package.xml
index 9dd769657..7d6853b2a 100644
--- a/roseus/package.xml
+++ b/roseus/package.xml
@@ -37,7 +37,6 @@
   <build_depend>std_srvs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>shape_msgs</build_depend>
-  <build_depend>visualization_msgs</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>actionlib_tutorials</build_depend>
@@ -63,7 +62,6 @@
   <run_depend>std_srvs</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>shape_msgs</run_depend>
-  <run_depend>visualization_msgs</run_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>actionlib_tutorials</run_depend>