From 6db843dbd7fe52be0718d6e6240d1dd3482e02e6 Mon Sep 17 00:00:00 2001
From: Jon Meyer <Jmeyer@swri.org>
Date: Tue, 2 Jan 2018 20:38:15 -0600
Subject: [PATCH 1/2] Removed a test_depends on meta-package from moveit

---
 descartes_moveit/package.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/descartes_moveit/package.xml b/descartes_moveit/package.xml
index 8fdcd879..83756b28 100644
--- a/descartes_moveit/package.xml
+++ b/descartes_moveit/package.xml
@@ -25,7 +25,6 @@
   <build_depend>eigen</build_depend>
 
   <test_depend>rosunit</test_depend>
-  <test_depend>moveit_ros</test_depend>
 
   <export>
     <descartes_core plugin="${prefix}/moveit_adapter_plugins.xml"/>

From f03b507ce6405a7c76fd2c017ac379b828ad8982 Mon Sep 17 00:00:00 2001
From: Jon Meyer <Jmeyer@swri.org>
Date: Wed, 10 Jan 2018 20:38:21 -0600
Subject: [PATCH 2/2] Added dependency on moveit_kinematics to bring in solvers

---
 descartes_moveit/package.xml | 2 --
 descartes_tests/package.xml  | 3 +++
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/descartes_moveit/package.xml b/descartes_moveit/package.xml
index 83756b28..610893b5 100644
--- a/descartes_moveit/package.xml
+++ b/descartes_moveit/package.xml
@@ -24,8 +24,6 @@
   <depend>pluginlib</depend>
   <build_depend>eigen</build_depend>
 
-  <test_depend>rosunit</test_depend>
-
   <export>
     <descartes_core plugin="${prefix}/moveit_adapter_plugins.xml"/>
     <rosdoc config="rosdoc.yaml"/>
diff --git a/descartes_tests/package.xml b/descartes_tests/package.xml
index a3da5a0e..469cd538 100644
--- a/descartes_tests/package.xml
+++ b/descartes_tests/package.xml
@@ -11,6 +11,9 @@
   <license>Apache 2.0</license>
 
   <test_depend>gtest</test_depend>
+  <test_depend>rosunit</test_depend>
+  <test_depend>moveit_kinematics</test_depend>
+
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>descartes_moveit</build_depend>
   <build_depend>descartes_planner</build_depend>