diff --git a/CMakeLists.txt b/CMakeLists.txt
index c510ce5..3275e59 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,7 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   roscpp
   sensor_msgs
-  std_msgs
+  std_srvs
   trajectory_msgs
   ur_msgs
   tf
diff --git a/package.xml b/package.xml
index f1cd996..e451bc3 100644
--- a/package.xml
+++ b/package.xml
@@ -47,11 +47,9 @@
   <build_depend>geometry_msgs</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
   <build_depend>trajectory_msgs</build_depend>
   <build_depend>ur_msgs</build_depend>
   <build_depend>tf</build_depend>
-  <build_depend>realtime_tools</build_depend>
   <build_depend>std_srvs</build_depend>
   <run_depend>hardware_interface</run_depend>
   <run_depend>controller_manager</run_depend>
@@ -61,14 +59,13 @@
   <run_depend>geometry_msgs</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
   <run_depend>trajectory_msgs</run_depend>
   <run_depend>ur_msgs</run_depend>
   <run_depend>ur_description</run_depend>
   <run_depend>tf</run_depend>
-  <run_depend>realtime_tools</run_depend>
   <run_depend>std_srvs</run_depend>
 
+  <test_depend>rosunit</test_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>