diff --git a/ros2cli/package.xml b/ros2cli/package.xml
index fe7c0801f..30485918b 100644
--- a/ros2cli/package.xml
+++ b/ros2cli/package.xml
@@ -20,7 +20,6 @@
   <exec_depend>python3-argcomplete</exec_depend>
   <exec_depend>python3-importlib-metadata</exec_depend>
   <exec_depend>python3-packaging</exec_depend>
-  <exec_depend>python3-pkg-resources</exec_depend>
   <exec_depend>python3-psutil</exec_depend>
   <exec_depend>rclpy</exec_depend>
 
diff --git a/ros2pkg/package.xml b/ros2pkg/package.xml
index d49e67724..e2fcad806 100644
--- a/ros2pkg/package.xml
+++ b/ros2pkg/package.xml
@@ -22,7 +22,6 @@
   <exec_depend>python3-catkin-pkg-modules</exec_depend>
   <exec_depend>python3-empy</exec_depend>
   <exec_depend>python3-importlib-resources</exec_depend>
-  <exec_depend>python3-pkg-resources</exec_depend>
   <exec_depend>ros2cli</exec_depend>
 
   <test_depend>ament_flake8</test_depend>