diff --git a/launch_testing/package.xml b/launch_testing/package.xml
index b3e78b5c6..995500823 100644
--- a/launch_testing/package.xml
+++ b/launch_testing/package.xml
@@ -25,6 +25,8 @@
   <test_depend>launch</test_depend>
   <test_depend>python3-pytest</test_depend>
 
+  <group_depend>launch_frontend_packages</group_depend>
+
   <export>
     <build_type>ament_python</build_type>
   </export>
diff --git a/launch_xml/package.xml b/launch_xml/package.xml
index 451ba5fcb..660486461 100644
--- a/launch_xml/package.xml
+++ b/launch_xml/package.xml
@@ -17,6 +17,8 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
+  <member_of_group>launch_frontend_packages</member_of_group>
+
   <export>
     <build_type>ament_python</build_type>
   </export>
diff --git a/launch_yaml/package.xml b/launch_yaml/package.xml
index 169c399b6..de73aeadc 100644
--- a/launch_yaml/package.xml
+++ b/launch_yaml/package.xml
@@ -17,6 +17,8 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
+  <member_of_group>launch_frontend_packages</member_of_group>
+
   <export>
     <build_type>ament_python</build_type>
   </export>