diff --git a/nebula_common/package.xml b/nebula_common/package.xml
index 8c9ae3f26..0230106c2 100644
--- a/nebula_common/package.xml
+++ b/nebula_common/package.xml
@@ -12,7 +12,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>ros_environment</buildtool_depend>
 
-  <depend>libpcl-all-dev</depend>
+  <build_depend>libpcl-all-dev</build_depend>
+  <build_export_depend>libpcl-all-dev</build_export_depend>
   <depend>nlohmann-json-dev</depend>
   <depend>yaml-cpp</depend>
 
diff --git a/nebula_decoders/package.xml b/nebula_decoders/package.xml
index 9692e1fe9..04892739d 100644
--- a/nebula_decoders/package.xml
+++ b/nebula_decoders/package.xml
@@ -11,13 +11,16 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>ros_environment</buildtool_depend>
+  <build_depend>libpcl-all-dev</build_depend>
+  <build_depend>libpng++-dev</build_depend>
+  <build_depend>libpng-dev</build_depend>
+  <build_export_depend>libpcl-all-dev</build_export_depend>
+  <build_export_depend>libpng++-dev</build_export_depend>
+  <build_export_depend>libpng-dev</build_export_depend>
 
   <depend>angles</depend>
   <depend>continental_msgs</depend>
   <depend>diagnostic_msgs</depend>
-  <depend>libpcl-all-dev</depend>
-  <depend>libpng++-dev</depend>
-  <depend>libpng-dev</depend>
   <depend>nebula_common</depend>
   <depend>nebula_msgs</depend>
   <depend>pandar_msgs</depend>
diff --git a/nebula_examples/package.xml b/nebula_examples/package.xml
index 651723962..d737ae9c6 100644
--- a/nebula_examples/package.xml
+++ b/nebula_examples/package.xml
@@ -11,8 +11,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>ros_environment</buildtool_depend>
+  <build_depend>libpcl-all-dev</build_depend>
+  <build_export_depend>libpcl-all-dev</build_export_depend>
 
-  <depend>libpcl-all-dev</depend>
   <depend>nebula_common</depend>
   <depend>nebula_decoders</depend>
   <depend>nebula_ros</depend>
diff --git a/nebula_ros/package.xml b/nebula_ros/package.xml
index 86a67ba17..005e295e0 100644
--- a/nebula_ros/package.xml
+++ b/nebula_ros/package.xml
@@ -12,13 +12,14 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>ros_environment</buildtool_depend>
   <buildtool_depend>ros_testing</buildtool_depend>
+  <build_depend>libpcl-all-dev</build_depend>
+  <build_export_depend>libpcl-all-dev</build_export_depend>
 
   <depend>continental_msgs</depend>
   <depend>continental_srvs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
-  <depend>libpcl-all-dev</depend>
   <depend>nebula_common</depend>
   <depend>nebula_decoders</depend>
   <depend>nebula_hw_interfaces</depend>