diff --git a/roboplan/package.xml b/roboplan/package.xml
index c59b55b3..96bf6112 100644
--- a/roboplan/package.xml
+++ b/roboplan/package.xml
@@ -10,9 +10,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
+  <build_depend>nanobind-dev</build_depend>
+  <build_depend>python3-dev</build_depend>
+
   <depend>eigen</depend>
   <depend>libexpected-dev</depend>
-  <depend>nanobind-dev</depend>
   <depend>pinocchio</depend>
   <!-- NOTE: Ensure to update this as humble, jazzy, and kilted go end of life. -->
   <depend condition="$ROS_DISTRO != humble and $ROS_DISTRO != jazzy and $ROS_DISTRO != kilted">tinyxml2</depend>
diff --git a/roboplan_cartesian_planning/package.xml b/roboplan_cartesian_planning/package.xml
index 0c4a44fc..2d002a41 100644
--- a/roboplan_cartesian_planning/package.xml
+++ b/roboplan_cartesian_planning/package.xml
@@ -10,7 +10,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <depend>nanobind-dev</depend>
+  <build_depend>nanobind-dev</build_depend>
+  <build_depend>python3-dev</build_depend>
+
   <depend>roboplan</depend>
   <depend>roboplan_oink</depend>
   <depend>roboplan_toppra</depend>
diff --git a/roboplan_example_models/package.xml b/roboplan_example_models/package.xml
index 857eaefc..ffa927d0 100644
--- a/roboplan_example_models/package.xml
+++ b/roboplan_example_models/package.xml
@@ -10,7 +10,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <depend>nanobind-dev</depend>
+  <build_depend>nanobind-dev</build_depend>
+  <build_depend>python3-dev</build_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/roboplan_oink/package.xml b/roboplan_oink/package.xml
index 391eaeb1..edea2481 100644
--- a/roboplan_oink/package.xml
+++ b/roboplan_oink/package.xml
@@ -11,7 +11,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <depend>nanobind-dev</depend>
+  <build_depend>nanobind-dev</build_depend>
+  <build_depend>python3-dev</build_depend>
+
   <depend>roboplan</depend>
   <!-- See https://github.com/tier4/osqp_vendor/issues/26 -->
   <depend condition="$ROS_DISTRO != lyrical">osqp_vendor</depend>
diff --git a/roboplan_rrt/package.xml b/roboplan_rrt/package.xml
index 9e66d84a..1aaa6338 100644
--- a/roboplan_rrt/package.xml
+++ b/roboplan_rrt/package.xml
@@ -10,7 +10,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <depend>nanobind-dev</depend>
+  <build_depend>nanobind-dev</build_depend>
+  <build_depend>python3-dev</build_depend>
+
   <depend>roboplan</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/roboplan_simple_ik/package.xml b/roboplan_simple_ik/package.xml
index ed82c250..59c95ecf 100644
--- a/roboplan_simple_ik/package.xml
+++ b/roboplan_simple_ik/package.xml
@@ -10,7 +10,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <depend>nanobind-dev</depend>
+  <build_depend>nanobind-dev</build_depend>
+  <build_depend>python3-dev</build_depend>
+
   <depend>roboplan</depend>
 
   <export>
diff --git a/roboplan_toppra/package.xml b/roboplan_toppra/package.xml
index a66f1971..96862690 100644
--- a/roboplan_toppra/package.xml
+++ b/roboplan_toppra/package.xml
@@ -10,7 +10,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <depend>nanobind-dev</depend>
+  <build_depend>nanobind-dev</build_depend>
+  <build_depend>python3-dev</build_depend>
+
   <depend>roboplan</depend>
   <!-- TODO: Update this as toppra gets released on more ROS distros. -->
   <!-- If not yet available, there is a source build fallback via FetchContent. -->