diff --git a/robots/hydrus_xi/CMakeLists.txt b/robots/hydrus_xi/CMakeLists.txt
index 754f73593..8b3fef063 100644
--- a/robots/hydrus_xi/CMakeLists.txt
+++ b/robots/hydrus_xi/CMakeLists.txt
@@ -8,12 +8,8 @@ set(CMAKE_CXX_STANDARD 17)
 
 find_package(catkin REQUIRED COMPONENTS
   angles
-  aerial_robot_control
-  aerial_robot_model
-  aerial_robot_msgs
   hydrus
   mujoco_ros_control
-  pluginlib
   roscpp
   )
 
@@ -23,7 +19,7 @@ find_package(OsqpEigen REQUIRED)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES  hydrus_xi_fully_actuated_robot_model
-  CATKIN_DEPENDS  aerial_robot_base aerial_robot_control aerial_robot_model aerial_robot_msgs angles hydrus roscpp rospy spinal
+  CATKIN_DEPENDS  angles hydrus roscpp
   )
 
 if(NOT CMAKE_BUILD_TYPE)
diff --git a/robots/hydrus_xi/package.xml b/robots/hydrus_xi/package.xml
index 0f4f163d0..bc855b06e 100644
--- a/robots/hydrus_xi/package.xml
+++ b/robots/hydrus_xi/package.xml
@@ -9,17 +9,14 @@
   <license>B.S.D</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <depend>aerial_robot_base</depend>
-  <depend>aerial_robot_control</depend>
-  <depend>aerial_robot_model</depend>
-  <depend>aerial_robot_msgs</depend>
   <depend>angles</depend>
   <depend>hydrus</depend>
   <depend>mujoco_ros_control</depend>
   <depend>roscpp</depend>
-  <depend>rospy</depend>
-  <depend>spinal</depend>
 
+  <exec_depend>aerial_robot_base</exec_depend>
+  <exec_depend>aerial_robot_control</exec_depend>
+  <exec_depend>aerial_robot_model</exec_depend>
   <exec_depend>aerial_robot_simulation</exec_depend>
   <test_depend>rostest</test_depend>