diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index f54e8ec..76b2d3f 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -56,7 +56,8 @@ jobs:
         run: |
           sudo apt update
           rosdep update
-          rosdep install --from-paths . --ignore-src -r -y
+          rosdep install --from-paths . --ignore-src -r -y \
+            -t build -t buildtool -t build_export -t buildtool_export -t exec -t test -t doc
       - name: Install Clang
         if: matrix.compiler.name == 'Clang'
         run: sudo apt update && sudo apt install clang
diff --git a/package.xml b/package.xml
index ab0ffdc..a8d9717 100644
--- a/package.xml
+++ b/package.xml
@@ -12,15 +12,15 @@
   <maintainer email="shaurya.kumar@picknik.ai">Shaurya Kumar</maintainer>
   <license>BSD-3-Clause</license>
 
-  <buildtool_depend>doxygen</buildtool_depend>
+  <doc_depend>doxygen</doc_depend>
 
   <depend>eigen</depend>
   <depend>fmt</depend>
+  <depend>rcl_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>tcb_span</depend>
   <depend>libexpected-dev</depend>
 
-  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>clang-tidy</test_depend>
   <test_depend>git</test_depend>
   <test_depend>range-v3</test_depend>