diff --git a/moveit_setup_assistant/moveit_setup_controllers/package.xml b/moveit_setup_assistant/moveit_setup_controllers/package.xml
index 00ae3344ae..0cfad2bd3f 100644
--- a/moveit_setup_assistant/moveit_setup_controllers/package.xml
+++ b/moveit_setup_assistant/moveit_setup_controllers/package.xml
@@ -8,7 +8,7 @@
   <license>BSD-3-Clause</license>
   <author email="davidvlu@gmail.com">David V. Lu!!</author>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>moveit_setup_framework</depend>
diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/package.xml b/moveit_setup_assistant/moveit_setup_core_plugins/package.xml
index 6eff489079..cd2a7aa340 100644
--- a/moveit_setup_assistant/moveit_setup_core_plugins/package.xml
+++ b/moveit_setup_assistant/moveit_setup_core_plugins/package.xml
@@ -8,7 +8,7 @@
   <license>BSD-3-Clause</license>
   <author email="davidvlu@gmail.com">David V. Lu!!</author>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>moveit_ros_visualization</depend>
diff --git a/moveit_setup_assistant/moveit_setup_framework/package.xml b/moveit_setup_assistant/moveit_setup_framework/package.xml
index ad33f7457f..a8ab737f6f 100644
--- a/moveit_setup_assistant/moveit_setup_framework/package.xml
+++ b/moveit_setup_assistant/moveit_setup_framework/package.xml
@@ -8,7 +8,7 @@
   <license>BSD-3-Clause</license>
   <author email="davidvlu@gmail.com">David V. Lu!!</author>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <depend>ament_index_cpp</depend>
   <depend>moveit_common</depend>
   <depend>moveit_core</depend>
diff --git a/moveit_setup_assistant/moveit_setup_simulation/package.xml b/moveit_setup_assistant/moveit_setup_simulation/package.xml
index f50d698895..72036f5b79 100644
--- a/moveit_setup_assistant/moveit_setup_simulation/package.xml
+++ b/moveit_setup_assistant/moveit_setup_simulation/package.xml
@@ -8,7 +8,7 @@
   <license>BSD-3-Clause</license>
   <author email="davidvlu@gmail.com">David V. Lu!!</author>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>moveit_setup_framework</depend>
diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml b/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml
index 62a4e9335a..e0bb432536 100644
--- a/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml
+++ b/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml
@@ -8,7 +8,7 @@
   <license>BSD-3-Clause</license>
   <author email="davidvlu@gmail.com">David V. Lu!!</author>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <depend>moveit_setup_framework</depend>
   <depend>pluginlib</depend>