diff --git a/package.xml b/package.xml
index 8f6a864a7b1ebf756c372d4a13dabda228cae945..ccb5f174173a3d7ca33311e4aa0357aa2a67a62e 100644
--- a/package.xml
+++ b/package.xml
@@ -15,8 +15,6 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>franka_description</build_depend>
-
   <run_depend>franka_description</run_depend>
   <run_depend>moveit_ros_move_group</run_depend>
   <run_depend>moveit_fake_controller_manager</run_depend>
@@ -24,6 +22,7 @@
   <run_depend>moveit_planners_ompl</run_depend>
   <run_depend>moveit_ros_visualization</run_depend>
   <run_depend>joint_state_publisher</run_depend>
+  <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>xacro</run_depend>
   <run_depend>topic_tools</run_depend>