diff --git a/rbs_bt_executor/CMakeLists.txt b/rbs_bt_executor/CMakeLists.txt
index d9a29b7..b1efb12 100644
--- a/rbs_bt_executor/CMakeLists.txt
+++ b/rbs_bt_executor/CMakeLists.txt
@@ -10,19 +10,19 @@ find_package(ament_cmake_python REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
-find_package(geometry_msgs REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(moveit_core REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
 find_package(moveit_ros_planning_interface REQUIRED)
 find_package(ament_index_cpp REQUIRED)
-find_package(rbs_skill_interfaces REQUIRED)
 # find_package(behavior_tree REQUIRED)
 find_package(behaviortree_ros2 REQUIRED)
 find_package(behaviortree_cpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(control_msgs REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 find_package(rcl_interfaces REQUIRED)
+find_package(rbs_skill_interfaces REQUIRED)
 find_package(env_manager_interfaces REQUIRED)
 find_package(rbs_utils REQUIRED)
 find_package(tf2_eigen REQUIRED)
diff --git a/rbs_bt_executor/package.xml b/rbs_bt_executor/package.xml
index 4dc51c1..5f109c6 100644
--- a/rbs_bt_executor/package.xml
+++ b/rbs_bt_executor/package.xml
@@ -14,6 +14,8 @@
   <depend>rbs_utils</depend>
   <depend>rbs_skill_interfaces</depend>
   <depend>env_manager_interfaces</depend>
+  <depend>geometry_msgs</depend>
+  <depend>lifecycle_msgs</depend>
   <depend>behaviortree_ros2</depend>
   <depend>behaviortree_cpp</depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/rbs_perception/CMakeLists.txt b/rbs_perception/CMakeLists.txt
index b8ec830..d081d7b 100644
--- a/rbs_perception/CMakeLists.txt
+++ b/rbs_perception/CMakeLists.txt
@@ -16,7 +16,7 @@ find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rbs_skill_interfaces REQUIRED)
-#find_package(opencv2 REQUIRED)
+# find_package(opencv2 REQUIRED)
 find_package(PCL 1.12 REQUIRED)
 find_package(pcl_conversions REQUIRED)
 find_package(pcl_ros REQUIRED)
@@ -24,7 +24,7 @@ find_package(tf2_ros REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(tf2_msgs REQUIRED)
 find_package(moveit_msgs REQUIRED)
-#find_package(grasp_msgs REQUIRED)
+# find_package(grasp_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
 # Install Python modules
@@ -37,7 +37,6 @@ install(PROGRAMS
   scripts/grasp_marker_publish.py
   scripts/pose_estimation.py
   scripts/pose_estimation_lifecycle.py
-  # scripts/pe_dope_lc.py
   scripts/rbs_interface.py
   DESTINATION lib/${PROJECT_NAME}
 )
diff --git a/rbs_perception/package.xml b/rbs_perception/package.xml
index 7b5aca8..0324808 100644
--- a/rbs_perception/package.xml
+++ b/rbs_perception/package.xml
@@ -16,8 +16,11 @@
   <depend>cv_bridge</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>visualization_msgs</depend>
   <depend>perception_pcl</depend>
   <depend>rbs_skill_interfaces</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_eigen</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/rbs_skill_interfaces/package.xml b/rbs_skill_interfaces/package.xml
index 38c871e..2fbed73 100644
--- a/rbs_skill_interfaces/package.xml
+++ b/rbs_skill_interfaces/package.xml
@@ -10,6 +10,7 @@
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>shape_msgs</depend>
+  <depend>moveit_msgs</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/rbs_task_planner/CMakeLists.txt b/rbs_task_planner/CMakeLists.txt
index 5266e08..e8fbeea 100644
--- a/rbs_task_planner/CMakeLists.txt
+++ b/rbs_task_planner/CMakeLists.txt
@@ -10,7 +10,7 @@ find_package(plansys2_problem_expert REQUIRED)
 find_package(plansys2_pddl_parser REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(plansys2_bt_actions REQUIRED)
-find_package(behavior_tree REQUIRED)
+# find_package(behavior_tree REQUIRED)
 find_package(test_msgs REQUIRED)
 
 if (NOT CMAKE_CXX_STANDARD)
@@ -26,7 +26,7 @@ set(dependencies
     plansys2_pddl_parser
     ament_index_cpp
     plansys2_bt_actions
-    behavior_tree
+    # behavior_tree
     test_msgs
 )
 
diff --git a/rbs_task_planner/package.xml b/rbs_task_planner/package.xml
index 600e955..0f1058d 100644
--- a/rbs_task_planner/package.xml
+++ b/rbs_task_planner/package.xml
@@ -19,8 +19,8 @@
   <depend>plansys2_executor</depend>
   <depend>plansys2_bt_actions</depend>
   <depend>plansys2_terminal</depend>
-  <depend>behaviortree_cpp_v3</depend>
-  <depend>behavior_tree</depend>
+  <!-- <depend>behaviortree_cpp_v3</depend> -->
+  <!-- <depend>behavior_tree</depend> -->
  
   <exec_depend>popf</exec_depend>
   <exec_depend>plansys2_bringup</exec_depend>
diff --git a/rbs_utils/rbs_utils/CMakeLists.txt b/rbs_utils/rbs_utils/CMakeLists.txt
index 023db2d..756cfb6 100644
--- a/rbs_utils/rbs_utils/CMakeLists.txt
+++ b/rbs_utils/rbs_utils/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(rbs_utils_interfaces REQUIRED)
 find_package(dynmsg REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(rosbag2_cpp REQUIRED)
+find_package(nlohmann_json REQUIRED)
 
 set(deps
   rclcpp
diff --git a/rbs_utils/rbs_utils/package.xml b/rbs_utils/rbs_utils/package.xml
index 5609d7f..9c19790 100644
--- a/rbs_utils/rbs_utils/package.xml
+++ b/rbs_utils/rbs_utils/package.xml
@@ -21,7 +21,9 @@
   <depend>rbs_utils_interfaces</depend>
   <depend>dynmsg</depend>
   <depend>sensor_msgs</depend>
-
+  <depend>nlohmann_json</depend>
+  <depend>rosbag2_cpp</depend>
+  
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/rbs_utils/rbs_utils_interfaces/package.xml b/rbs_utils/rbs_utils_interfaces/package.xml
index ed3d238..a15bfc5 100644
--- a/rbs_utils/rbs_utils_interfaces/package.xml
+++ b/rbs_utils/rbs_utils_interfaces/package.xml
@@ -8,11 +8,12 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
 
+  <depend>geometry_msgs</depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/rbss_movetopose/CMakeLists.txt b/rbss_movetopose/CMakeLists.txt
index 9b9c366..c93275f 100644
--- a/rbss_movetopose/CMakeLists.txt
+++ b/rbss_movetopose/CMakeLists.txt
@@ -11,10 +11,11 @@ find_package(ament_cmake_python REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(rbs_skill_interfaces REQUIRED)
-find_package(PCL 1.12 REQUIRED)
-find_package(pcl_conversions REQUIRED)
-find_package(pcl_ros REQUIRED)
+# find_package(PCL 1.12 REQUIRED)
+# find_package(pcl_conversions REQUIRED)
+# find_package(pcl_ros REQUIRED)
 
 # Install Python modules
 ament_python_install_package(${PROJECT_NAME})
diff --git a/rbss_movetopose/package.xml b/rbss_movetopose/package.xml
index 2ddc61f..9fe1890 100644
--- a/rbss_movetopose/package.xml
+++ b/rbss_movetopose/package.xml
@@ -13,6 +13,7 @@
   <depend>rclpy</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
   <depend>rbs_skill_interfaces</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/rbss_objectdetection/CMakeLists.txt b/rbss_objectdetection/CMakeLists.txt
index 3d60e12..fe12192 100644
--- a/rbss_objectdetection/CMakeLists.txt
+++ b/rbss_objectdetection/CMakeLists.txt
@@ -9,19 +9,20 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rclpy REQUIRED)
-find_package(rclcpp REQUIRED)
+# find_package(rclcpp REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(cv_bridge REQUIRED)
-find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(lifecycle_msgs REQUIRED)
+# find_package(geometry_msgs REQUIRED)
 find_package(rbs_skill_interfaces REQUIRED)
-find_package(PCL 1.12 REQUIRED)
-find_package(pcl_conversions REQUIRED)
-find_package(pcl_ros REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(tf2_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
+# find_package(PCL 1.12 REQUIRED)
+# find_package(pcl_conversions REQUIRED)
+# find_package(pcl_ros REQUIRED)
+# find_package(tf2_ros REQUIRED)
+# find_package(tf2_msgs REQUIRED)
+# find_package(visualization_msgs REQUIRED)
 
 # Install Python modules
 ament_python_install_package(${PROJECT_NAME})
diff --git a/rbss_objectdetection/package.xml b/rbss_objectdetection/package.xml
index b8d96ca..5648eb5 100644
--- a/rbss_objectdetection/package.xml
+++ b/rbss_objectdetection/package.xml
@@ -11,11 +11,12 @@
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <depend>rclpy</depend>
-  <depend>rclcpp</depend>
+  <!-- <depend>rclcpp</depend> -->
   <depend>image_transport</depend>
   <depend>cv_bridge</depend>
-  <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>lifecycle_msgs</depend>
   <depend>rbs_skill_interfaces</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/rbss_poseestimation/CMakeLists.txt b/rbss_poseestimation/CMakeLists.txt
index d5f35b6..667efd9 100644
--- a/rbss_poseestimation/CMakeLists.txt
+++ b/rbss_poseestimation/CMakeLists.txt
@@ -15,13 +15,13 @@ find_package(cv_bridge REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(rbs_skill_interfaces REQUIRED)
-find_package(PCL 1.12 REQUIRED)
-find_package(pcl_conversions REQUIRED)
-find_package(pcl_ros REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(tf2_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
+# find_package(rbs_skill_interfaces REQUIRED)
+# find_package(PCL 1.12 REQUIRED)
+# find_package(pcl_conversions REQUIRED)
+# find_package(pcl_ros REQUIRED)
+# find_package(tf2_ros REQUIRED)
+# find_package(tf2_msgs REQUIRED)
+# find_package(visualization_msgs REQUIRED)
 
 # Install Python modules
 ament_python_install_package(${PROJECT_NAME})
diff --git a/rbss_poseestimation/package.xml b/rbss_poseestimation/package.xml
index b661a9e..5703c55 100644
--- a/rbss_poseestimation/package.xml
+++ b/rbss_poseestimation/package.xml
@@ -16,7 +16,7 @@
   <depend>cv_bridge</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
-  <depend>rbs_skill_interfaces</depend>
+  <depend>geometry_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>