diff --git a/autoware_common_msgs/package.xml b/autoware_common_msgs/package.xml
index 834e667..35ca50a 100644
--- a/autoware_common_msgs/package.xml
+++ b/autoware_common_msgs/package.xml
@@ -8,8 +8,9 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <depend>rosidl_default_generators</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/autoware_perception_msgs/package.xml b/autoware_perception_msgs/package.xml
index cb28552..6dc3ae0 100644
--- a/autoware_perception_msgs/package.xml
+++ b/autoware_perception_msgs/package.xml
@@ -8,9 +8,11 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>builtin_interfaces</depend>
-  <depend>rosidl_default_generators</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>