diff --git a/package.xml b/package.xml
index 7c74e6a1..146e3c07 100644
--- a/package.xml
+++ b/package.xml
@@ -48,7 +48,6 @@
   <build_depend>rviz_common</build_depend>
   <build_depend>rviz_rendering</build_depend>
   <build_depend>rviz_default_plugins</build_depend>
-  <build_depend>move_base_msgs</build_depend>
 
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>rclcpp</exec_depend>
@@ -81,7 +80,6 @@
   <exec_depend>rviz_common</exec_depend>
   <exec_depend>rviz_rendering</exec_depend>
   <exec_depend>rviz_default_plugins</exec_depend>
-  <exec_depend>move_base_msgs</exec_depend>
 
   <build_depend>libpcl-all-dev</build_depend>