diff --git a/robot_model/package.xml b/robot_model/package.xml
index 7339a54..a4427f6 100644
--- a/robot_model/package.xml
+++ b/robot_model/package.xml
@@ -20,32 +20,14 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <run_depend>angles</run_depend> 
-  <run_depend>assimp</run_depend>
-  <run_depend>collada-dom</run_depend>
   <run_depend>collada_parser</run_depend>
   <run_depend>collada_urdf</run_depend>
-  <run_depend>common_msgs</run_depend>
-  <run_depend>convex_decomposition</run_depend>
-  <run_depend>curl</run_depend>
-  <run_depend>geometry</run_depend>
-  <run_depend>graphviz</run_depend>
-  <run_depend>ivcon</run_depend>
   <run_depend>kdl_parser</run_depend>
-  <run_depend>orocos_kdl</run_depend>
   <run_depend>resource_retriever</run_depend>
-  <run_depend>ros</run_depend>
-  <run_depend>ros_comm</run_depend>
-  <run_depend>rosconsole_bridge</run_depend>
   <run_depend>urdf</run_depend>
   <run_depend>urdf_parser_plugin</run_depend>
-  <run_depend>urdfdom</run_depend>
-  <run_depend>urdfdom_headers</run_depend>
   <run_depend>joint_state_publisher</run_depend>
 
-  <!-- Add this dep for backward compatibility -->
-  <run_depend>robot_state_publisher</run_depend>
-
   <export>
     <metapackage/>
   </export>