diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml
index 45d043f40a5d77f6ed83d8914d804fb1a2ab3817..472de10433aa6b42ac895fa2f44ba1d560eeb968 100644
--- a/nav2_behavior_tree/package.xml
+++ b/nav2_behavior_tree/package.xml
@@ -50,6 +50,7 @@
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_dwb_controller/dwb_core/package.xml b/nav2_dwb_controller/dwb_core/package.xml
index 4f44192496d9413eed52087fedbd695f596ab6d3..08e005440fde38a81ba92b1c2fb1af4b8f08eb63 100644
--- a/nav2_dwb_controller/dwb_core/package.xml
+++ b/nav2_dwb_controller/dwb_core/package.xml
@@ -41,6 +41,7 @@
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_dwb_controller/dwb_critics/package.xml b/nav2_dwb_controller/dwb_critics/package.xml
index adc1a0972870a66a01f8b41bfec4ab3d3a6cf458..1d6a1668dc429f93c850a37288109539a61b99df 100644
--- a/nav2_dwb_controller/dwb_critics/package.xml
+++ b/nav2_dwb_controller/dwb_critics/package.xml
@@ -23,6 +23,7 @@
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
       <build_type>ament_cmake</build_type>
diff --git a/nav2_lifecycle_manager/package.xml b/nav2_lifecycle_manager/package.xml
index 777945fb1d6803a134da585ff6df0ead1785d28a..f7ecf2ce5940ce1233b3cbc8fc2633de361e5305 100644
--- a/nav2_lifecycle_manager/package.xml
+++ b/nav2_lifecycle_manager/package.xml
@@ -34,6 +34,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>