diff --git a/example_13/package.xml b/example_13/package.xml
index 00cc2eb39..349773fce 100644
--- a/example_13/package.xml
+++ b/example_13/package.xml
@@ -16,18 +16,25 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>force_torque_sensor_broadcaster</exec_depend>
+  <exec_depend>forward_command_controller</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros2_control_demo_example_4</exec_depend>
   <exec_depend>ros2_control_demo_example_5</exec_depend>
+  <exec_depend>ros2_controllers_test_nodes</exec_depend>
+  <exec_depend>ros2controlcli</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <exec_depend>ros2_controllers_test_nodes</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
 
-  <exec_depend>force_torque_sensor_broadcaster</exec_depend>
-  <exec_depend>forward_command_controller</exec_depend>
-  <exec_depend>joint_state_broadcaster</exec_depend>
-  <exec_depend>joint_trajectory_controller</exec_depend>
-  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>xacro</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>