diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml
index c53f1b9971..0b97d6bb0c 100644
--- a/ros2_controllers_test_nodes/package.xml
+++ b/ros2_controllers_test_nodes/package.xml
@@ -21,6 +21,8 @@
   <depend>trajectory_msgs</depend>
 
   <test_depend>python3-pytest</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>launch_ros</test_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/ros2_controllers_test_nodes/test/test_publisher_forward_position_controller_launch.py b/ros2_controllers_test_nodes/test/test_publisher_forward_position_controller_launch.py
index 8ebb2df7b3..3f4c9da21f 100644
--- a/ros2_controllers_test_nodes/test/test_publisher_forward_position_controller_launch.py
+++ b/ros2_controllers_test_nodes/test/test_publisher_forward_position_controller_launch.py
@@ -34,15 +34,13 @@
 
 from launch import LaunchDescription
 from launch.substitutions import PathJoinSubstitution
+import launch_ros.actions
 from launch_ros.substitutions import FindPackageShare
 from launch_testing.actions import ReadyToTest
-from launch_testing_ros import WaitForTopics
-
 import launch_testing.markers
+from launch_testing_ros import WaitForTopics
 import rclpy
-import launch_ros.actions
 from rclpy.node import Node
-
 from std_msgs.msg import Float64MultiArray
 
 
diff --git a/ros2_controllers_test_nodes/test/test_publisher_joint_trajectory_controller_launch.py b/ros2_controllers_test_nodes/test/test_publisher_joint_trajectory_controller_launch.py
index d8d6e2a577..62ad25550d 100644
--- a/ros2_controllers_test_nodes/test/test_publisher_joint_trajectory_controller_launch.py
+++ b/ros2_controllers_test_nodes/test/test_publisher_joint_trajectory_controller_launch.py
@@ -34,13 +34,12 @@
 
 from launch import LaunchDescription
 from launch.substitutions import PathJoinSubstitution
+import launch_ros.actions
 from launch_ros.substitutions import FindPackageShare
 from launch_testing.actions import ReadyToTest
-from launch_testing_ros import WaitForTopics
-
 import launch_testing.markers
+from launch_testing_ros import WaitForTopics
 import rclpy
-import launch_ros.actions
 from rclpy.node import Node
 from trajectory_msgs.msg import JointTrajectory