diff --git a/action_msgs/package.xml b/action_msgs/package.xml
index eff88c26..65f00361 100644
--- a/action_msgs/package.xml
+++ b/action_msgs/package.xml
@@ -17,6 +17,8 @@
ament_cmake
rosidl_core_generators
+ rosidl_core_runtime
+
builtin_interfaces
service_msgs
unique_identifier_msgs
diff --git a/builtin_interfaces/package.xml b/builtin_interfaces/package.xml
index 8fa0f172..97ba448b 100644
--- a/builtin_interfaces/package.xml
+++ b/builtin_interfaces/package.xml
@@ -14,9 +14,10 @@
Michel Hidalgo
ament_cmake
-
rosidl_core_generators
+ rosidl_core_runtime
+
rosidl_core_runtime
ament_lint_common
diff --git a/service_msgs/package.xml b/service_msgs/package.xml
index eceb8e72..581c4978 100644
--- a/service_msgs/package.xml
+++ b/service_msgs/package.xml
@@ -14,6 +14,8 @@
ament_cmake
rosidl_core_generators
+ rosidl_core_runtime
+
builtin_interfaces
rosidl_core_runtime
diff --git a/type_description_interfaces/package.xml b/type_description_interfaces/package.xml
index dc133f8f..a2d17a57 100644
--- a/type_description_interfaces/package.xml
+++ b/type_description_interfaces/package.xml
@@ -10,9 +10,10 @@
Apache License 2.0
ament_cmake
-
rosidl_core_generators
+ rosidl_core_runtime
+
service_msgs
rosidl_core_runtime