diff --git a/composition/package.xml b/composition/package.xml
index 239469e21..915a61365 100644
--- a/composition/package.xml
+++ b/composition/package.xml
@@ -28,6 +28,7 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
 
diff --git a/demo_nodes_cpp/package.xml b/demo_nodes_cpp/package.xml
index 67e59aa0e..e96c87289 100644
--- a/demo_nodes_cpp/package.xml
+++ b/demo_nodes_cpp/package.xml
@@ -28,6 +28,7 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
 
   <export>
diff --git a/demo_nodes_cpp_native/package.xml b/demo_nodes_cpp_native/package.xml
index 8b2a987ab..3881abd16 100644
--- a/demo_nodes_cpp_native/package.xml
+++ b/demo_nodes_cpp_native/package.xml
@@ -18,6 +18,7 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
 
   <export>
diff --git a/image_tools/package.xml b/image_tools/package.xml
index 0c1fe653d..1e486e0ed 100644
--- a/image_tools/package.xml
+++ b/image_tools/package.xml
@@ -21,6 +21,7 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
 
diff --git a/intra_process_demo/package.xml b/intra_process_demo/package.xml
index 146e43c45..a26c89f3c 100644
--- a/intra_process_demo/package.xml
+++ b/intra_process_demo/package.xml
@@ -21,6 +21,7 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
 
diff --git a/logging_demo/package.xml b/logging_demo/package.xml
index fc31ec66b..593f8c5bd 100644
--- a/logging_demo/package.xml
+++ b/logging_demo/package.xml
@@ -29,6 +29,7 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
 
diff --git a/pendulum_control/package.xml b/pendulum_control/package.xml
index d76cec91b..f2fca269d 100644
--- a/pendulum_control/package.xml
+++ b/pendulum_control/package.xml
@@ -27,6 +27,7 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>ros2run</test_depend>