diff --git a/yasmin_demos/package.xml b/yasmin_demos/package.xml
index c94bbc6..0a38990 100644
--- a/yasmin_demos/package.xml
+++ b/yasmin_demos/package.xml
@@ -10,8 +10,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
   
-  <depend>rclcpp</depend>
   <depend>rclpy</depend>
+  <depend>rclcpp</depend>
   <depend>yasmin</depend>
   <depend>yasmin_ros</depend>
   <depend>yasmin_viewer</depend>
diff --git a/yasmin_ros/CMakeLists.txt b/yasmin_ros/CMakeLists.txt
index 4b07ad2..c31c8d5 100644
--- a/yasmin_ros/CMakeLists.txt
+++ b/yasmin_ros/CMakeLists.txt
@@ -40,7 +40,6 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
-find_package(rclpy REQUIRED)
 find_package(yasmin REQUIRED)
 
 # C++
diff --git a/yasmin_ros/package.xml b/yasmin_ros/package.xml
index e4da360..b985be8 100644
--- a/yasmin_ros/package.xml
+++ b/yasmin_ros/package.xml
@@ -10,8 +10,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
   
-  <depend>rclcpp</depend>
   <depend>rclpy</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
   <depend>yasmin</depend>
 
   <test_depend>ament_copyright</test_depend>
diff --git a/yasmin_viewer/CMakeLists.txt b/yasmin_viewer/CMakeLists.txt
index c2d3add..5ef2af2 100644
--- a/yasmin_viewer/CMakeLists.txt
+++ b/yasmin_viewer/CMakeLists.txt
@@ -13,7 +13,6 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rclpy REQUIRED)
 find_package(yasmin REQUIRED)
 find_package(yasmin_ros REQUIRED)
 find_package(yasmin_msgs REQUIRED)
diff --git a/yasmin_viewer/package.xml b/yasmin_viewer/package.xml
index c18fc57..d3aec00 100644
--- a/yasmin_viewer/package.xml
+++ b/yasmin_viewer/package.xml
@@ -14,8 +14,8 @@
   <exec_depend>python3-flask</exec_depend>
   <exec_depend>python3-waitress</exec_depend>
   
-  <depend>rclcpp</depend>
   <depend>rclpy</depend>
+  <depend>rclcpp</depend>
   <depend>yasmin</depend>
   <depend>yasmin_ros</depend>
   <depend>yasmin_msgs</depend>