diff --git a/pr2eus/package.xml b/pr2eus/package.xml
index 5bd9ac075..e7a7d09cb 100644
--- a/pr2eus/package.xml
+++ b/pr2eus/package.xml
@@ -37,6 +37,11 @@
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>sound_play</run_depend>
 
+  <!-- Dependencies needed only for running tests. -->
+  <test_depend>rostest</test_depend>
+  <test_depend>pr2_gazebo</test_depend>
+  <test_depend>robot_state_publisher</test_depend>
+
   <export>
     <pr2eus robot-name="pr2" interface-file="${prefix}/pr2-interface.l" />
   </export>