diff --git a/deb_requirements.txt b/deb_requirements.txt
index 92871bb22..9bf170e33 100644
--- a/deb_requirements.txt
+++ b/deb_requirements.txt
@@ -4,7 +4,4 @@ ros-humble-py-trees
 python3-autopep8
 clang-format
 pylint
-python3-antlr4
-python3-pexpect
-python3-transforms3d
-python3-defusedxml
+python3-antlr4
\ No newline at end of file
diff --git a/libs/scenario_execution_gazebo/package.xml b/libs/scenario_execution_gazebo/package.xml
index a14434e17..d7dfefe8a 100644
--- a/libs/scenario_execution_gazebo/package.xml
+++ b/libs/scenario_execution_gazebo/package.xml
@@ -12,6 +12,8 @@
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>py_trees</exec_depend>
+  <exec_depend>python3-transforms3d</exec_depend>
+  <exec_depend>python3-defusedxml</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/libs/scenario_execution_gazebo/setup.py b/libs/scenario_execution_gazebo/setup.py
index b927aca06..aa415c2bc 100644
--- a/libs/scenario_execution_gazebo/setup.py
+++ b/libs/scenario_execution_gazebo/setup.py
@@ -31,6 +31,7 @@
     install_requires=[
         'setuptools',
         'transforms3d==0.3.1',
+        'defusedxml==0.7.1',
     ],
     zip_safe=True,
     maintainer='Intel Labs',
diff --git a/scenario_coverage/package.xml b/scenario_coverage/package.xml
index 3d115c342..50484378c 100644
--- a/scenario_coverage/package.xml
+++ b/scenario_coverage/package.xml
@@ -10,6 +10,7 @@
 
   <exec_depend>scenario_execution</exec_depend>
   <test_depend>python3-pexpect</test_depend>
+  <test_depend>python3-defusedxml</test_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/scenario_coverage/setup.py b/scenario_coverage/setup.py
index 3169ee8c0..325347212 100644
--- a/scenario_coverage/setup.py
+++ b/scenario_coverage/setup.py
@@ -33,6 +33,7 @@
     install_requires=[
         'setuptools',
         'pexpect==4.8.0',
+        'defusedxml==0.7.1',
     ],
     zip_safe=True,
     maintainer='Intel Labs',
diff --git a/scenario_execution/setup.py b/scenario_execution/setup.py
index 949545d59..f07a72043 100644
--- a/scenario_execution/setup.py
+++ b/scenario_execution/setup.py
@@ -41,7 +41,6 @@
     install_requires=[
         'setuptools',
         'antlr4-python3-runtime==4.9.1',
-        'defusedxml==0.7.1',
         'pyyaml==5.4.1',
         'py-trees==2.2.3'
     ],
diff --git a/scenario_execution_ros/package.xml b/scenario_execution_ros/package.xml
index 80116b561..752e0314f 100644
--- a/scenario_execution_ros/package.xml
+++ b/scenario_execution_ros/package.xml
@@ -20,6 +20,7 @@
   <exec_depend>xacro</exec_depend>
   <exec_depend>rcl_interfaces</exec_depend>
   <exec_depend>scenario_status</exec_depend>
+  <exec_depend>python3-transforms3d</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>