diff --git a/control/autoware_joy_controller/package.xml b/control/autoware_joy_controller/package.xml
index 6dfa6c4994ad0..10e33d5d6564a 100644
--- a/control/autoware_joy_controller/package.xml
+++ b/control/autoware_joy_controller/package.xml
@@ -16,11 +16,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_control_msgs</depend>
-  <depend>autoware_perception_msgs</depend>
-  <depend>autoware_planning_msgs</depend>
-  <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>joy</depend>