diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
index 2e6e2955..8926d21c 100644
--- a/example/CMakeLists.txt
+++ b/example/CMakeLists.txt
@@ -13,7 +13,6 @@ find_package(ament_cmake_python REQUIRED)
 find_package(generate_parameter_library REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(rclpy REQUIRED)
 
 generate_parameter_library(admittance_controller_parameters
   src/parameters.yaml
diff --git a/example_cmake_python/package.xml b/example_cmake_python/package.xml
index 3a3b05d7..8c6ee9e1 100644
--- a/example_cmake_python/package.xml
+++ b/example_cmake_python/package.xml
@@ -13,7 +13,8 @@
   <author email="paul.gesel@picknik.ai">Paul Gesel</author>
 
   <depend>generate_parameter_library</depend>
-  <depend>rclpy</depend>
+
+  <exec_depend>rclpy</exec_depend>
 
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
diff --git a/example_python/package.xml b/example_python/package.xml
index ad0c9c7f..0a4f10f4 100644
--- a/example_python/package.xml
+++ b/example_python/package.xml
@@ -11,9 +11,9 @@
   <maintainer email="paulgesel@gmail.com">paul</maintainer>
   <license>BSD-3-Clause</license>
 
-  <depend>generate_parameter_library</depend>
   <depend>generate_parameter_library_py</depend>
-  <depend>rclpy</depend>
+
+  <exec_depend>rclpy</exec_depend>
 
   <test_depend>python3-pytest</test_depend>
 
diff --git a/generate_parameter_library/package.xml b/generate_parameter_library/package.xml
index 56bd5dda..08b3207f 100644
--- a/generate_parameter_library/package.xml
+++ b/generate_parameter_library/package.xml
@@ -15,20 +15,16 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <buildtool_export_depend>generate_parameter_library_py</buildtool_export_depend>
+  <build_export_depend>fmt</build_export_depend>
+  <build_export_depend>generate_parameter_library_py</build_export_depend>
+  <build_export_depend>rclcpp</build_export_depend>
+  <build_export_depend>rclcpp_lifecycle</build_export_depend>
+  <build_export_depend>rsl</build_export_depend>
 
-  <depend>fmt</depend>
-  <depend>rclcpp</depend>
-  <depend>rclpy</depend>
-  <depend>rclcpp_lifecycle</depend>
-  <depend>rsl</depend>
-  <depend>tcb_span</depend>
-  <depend>libexpected-dev</depend>
-
-  <!-- for backward compatibility -->
-  <!-- remove once this redirection is removed -->
-  <!-- https://github.com/PickNikRobotics/cpp_polyfills/pull/12 -->
-  <depend>tl_expected</depend>
+  <exec_depend>fmt</exec_depend>
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclcpp_lifecycle</exec_depend>
+  <exec_depend>rsl</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/generate_parameter_library_py/package.xml b/generate_parameter_library_py/package.xml
index ef84bbf3..fd96cd68 100644
--- a/generate_parameter_library_py/package.xml
+++ b/generate_parameter_library_py/package.xml
@@ -12,10 +12,13 @@
   <license>BSD-3-Clause</license>
   <author email="paul.gesel@picknik.ai">Paul Gesel</author>
 
-  <depend>python3</depend>
-  <depend>python3-jinja2</depend>
-  <depend>python3-typeguard</depend>
-  <depend>python3-yaml</depend>
+  <build_export_depend>python3</build_export_depend>
+  <build_export_depend>python3-jinja2</build_export_depend>
+  <build_export_depend>python3-typeguard</build_export_depend>
+  <build_export_depend>python3-yaml</build_export_depend>
+
+  <exec_depend>rcl_interfaces</exec_depend>
+  <exec_depend>rclpy</exec_depend>
 
   <test_depend>python3-pytest</test_depend>