diff --git a/package.xml b/package.xml
index 2a4c84ea878a7e321f85c6390af6eb7824e713e8..dc77fde4db74d14860f5a42b74ba672ddd42cc0e 100644
--- a/package.xml
+++ b/package.xml
@@ -18,7 +18,6 @@
   <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
   <exec_depend>pinocchio</exec_depend>
-  <test_depend>pinocchio</test_depend>
 
   <buildtool_depend>cmake</buildtool_depend>
   <export>