diff --git a/openni2_camera/package.xml b/openni2_camera/package.xml
index eda861c..b8e9f0f 100644
--- a/openni2_camera/package.xml
+++ b/openni2_camera/package.xml
@@ -14,7 +14,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>camera_info_manager</depend>
-  <depend>default_idl_generators</depend>
   <depend>libopenni2-dev</depend>
   <depend>openni2_camera_msgs</depend>
   <depend>sensor_msgs</depend>
diff --git a/openni2_camera_msgs/package.xml b/openni2_camera_msgs/package.xml
index 46d7d35..00cb65e 100644
--- a/openni2_camera_msgs/package.xml
+++ b/openni2_camera_msgs/package.xml
@@ -12,12 +12,10 @@
   <maintainer email="isaac.saito@plusonerobotics.com">Isaac I. Y. Saito</maintainer>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <build_depend>rosidl_default_generators</build_depend>
   <depend>builtin_interfaces</depend>
-  <depend>default_idl_generators</depend>
   <depend>image_transport</depend>
-
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>