diff --git a/example_1/package.xml b/example_1/package.xml
index 141351687..4057a8f8e 100644
--- a/example_1/package.xml
+++ b/example_1/package.xml
@@ -34,9 +34,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>
diff --git a/example_10/package.xml b/example_10/package.xml
index faeb4b47a..8a7452f11 100644
--- a/example_10/package.xml
+++ b/example_10/package.xml
@@ -33,7 +33,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_11/package.xml b/example_11/package.xml
index ad8f02520..8f6af9ab0 100644
--- a/example_11/package.xml
+++ b/example_11/package.xml
@@ -32,7 +32,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_12/package.xml b/example_12/package.xml
index 2c2c5c45c..1088cc0b6 100644
--- a/example_12/package.xml
+++ b/example_12/package.xml
@@ -34,7 +34,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_14/package.xml b/example_14/package.xml
index fe4c74df5..6c9672bb0 100644
--- a/example_14/package.xml
+++ b/example_14/package.xml
@@ -32,7 +32,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_15/package.xml b/example_15/package.xml
index 8fc182919..b4594cb17 100644
--- a/example_15/package.xml
+++ b/example_15/package.xml
@@ -30,7 +30,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_2/package.xml b/example_2/package.xml
index 15977eb36..053f9b0da 100644
--- a/example_2/package.xml
+++ b/example_2/package.xml
@@ -33,7 +33,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_3/package.xml b/example_3/package.xml
index b7cd1251c..bef6bfe76 100644
--- a/example_3/package.xml
+++ b/example_3/package.xml
@@ -33,7 +33,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_4/package.xml b/example_4/package.xml
index de578666f..8ac075363 100644
--- a/example_4/package.xml
+++ b/example_4/package.xml
@@ -32,7 +32,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_5/package.xml b/example_5/package.xml
index 0495f8439..0cbb5a989 100644
--- a/example_5/package.xml
+++ b/example_5/package.xml
@@ -32,7 +32,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_6/package.xml b/example_6/package.xml
index 63daf437b..0ca73439a 100644
--- a/example_6/package.xml
+++ b/example_6/package.xml
@@ -31,7 +31,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_7/package.xml b/example_7/package.xml
index c0a578130..7756780b8 100644
--- a/example_7/package.xml
+++ b/example_7/package.xml
@@ -40,7 +40,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_8/package.xml b/example_8/package.xml
index c7783a448..3cf186144 100644
--- a/example_8/package.xml
+++ b/example_8/package.xml
@@ -34,7 +34,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/example_9/package.xml b/example_9/package.xml
index 13e887ffb..0fd739a80 100644
--- a/example_9/package.xml
+++ b/example_9/package.xml
@@ -36,7 +36,6 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
diff --git a/ros2_control_demo_testing/package.xml b/ros2_control_demo_testing/package.xml
index 663daed04..7fb6e2986 100644
--- a/ros2_control_demo_testing/package.xml
+++ b/ros2_control_demo_testing/package.xml
@@ -7,14 +7,9 @@
   <maintainer email="christoph.froehlich@ait.ac.at">Christoph Froehlich</maintainer>
   <license>Apache-2.0</license>
 
-  <depend>sensor_msgs</depend>
-  <depend>launch_testing</depend>
-  <depend>controller_manger</depend>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
+  <test_depend>sensor_msgs</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>controller_manager</test_depend>
 
   <export>
     <build_type>ament_python</build_type>