diff --git a/control/autonomous_emergency_braking/package.xml b/control/autonomous_emergency_braking/package.xml
index f68c16798ca79..44c8da5301fed 100644
--- a/control/autonomous_emergency_braking/package.xml
+++ b/control/autonomous_emergency_braking/package.xml
@@ -8,6 +8,10 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
 
   <build_depend>autoware_cmake</build_depend>
 
diff --git a/control/autoware_control_evaluator/package.xml b/control/autoware_control_evaluator/package.xml
index 6c44eb62cce77..78422ca66bb3d 100644
--- a/control/autoware_control_evaluator/package.xml
+++ b/control/autoware_control_evaluator/package.xml
@@ -15,11 +15,8 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_evaluator_utils</depend>
-  <depend>autoware_motion_utils</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>autoware_auto_planning_msgs</depend>
-  <depend>autoware_route_handler</depend>
-  <depend>autoware_universe_utils</depend>
   <depend>route_handler</depend>
   <depend>diagnostic_msgs</depend>
   <depend>pluginlib</depend>