diff --git a/examples/dave_nodes/package.xml b/examples/dave_nodes/package.xml
index 6afcfaaf..0668df5e 100644
--- a/examples/dave_nodes/package.xml
+++ b/examples/dave_nodes/package.xml
@@ -8,8 +8,6 @@
   <author email="dtdavi1@nps.edu">dtd</author> -->
   <buildtool_depend>catkin</buildtool_depend>
 
-  <exec_depend>moveit_commander</exec_depend>
-
   <export>
     <!-- Other tools can request additional information be placed here -->
   </export>
diff --git a/urdf/robots/rexrov_oberon7_moveit/package.xml b/urdf/robots/rexrov_oberon7_moveit/package.xml
index 396fbb07..c264e0dd 100755
--- a/urdf/robots/rexrov_oberon7_moveit/package.xml
+++ b/urdf/robots/rexrov_oberon7_moveit/package.xml
@@ -24,6 +24,8 @@
   <run_depend>moveit_ros_visualization</run_depend>
   <run_depend>moveit_setup_assistant</run_depend>
   <run_depend>moveit_simple_controller_manager</run_depend>
+  <exec_depend>moveit_commander</exec_depend>
+  <exec_depend>moveit_planners</exec_depend>
   <run_depend>joint_state_publisher</run_depend>
   <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>robot_state_publisher</run_depend>