diff --git a/example_15/package.xml b/example_15/package.xml
index 6118f80c9..8aea9905c 100644
--- a/example_15/package.xml
+++ b/example_15/package.xml
@@ -18,12 +18,12 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>forward_command_controller</exec_depend>
-  <exec_depend>joint_state_controller</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>ros2_controllers_test_nodes</exec_depend>
   <exec_depend>ros2_control_demo_example_1</exec_depend>
   <exec_depend>ros2_control_demo_example_5</exec_depend>
+  <exec_depend>ros2_controllers_test_nodes</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>rviz2</exec_depend>