diff --git a/rosidl_generator_py/package.xml b/rosidl_generator_py/package.xml
index 89e69c94..49c970ac 100644
--- a/rosidl_generator_py/package.xml
+++ b/rosidl_generator_py/package.xml
@@ -29,6 +29,16 @@
   <buildtool_export_depend>rosidl_typesupport_c</buildtool_export_depend>
   <buildtool_export_depend>rosidl_typesupport_interface</buildtool_export_depend>
 
+  <!-- TODO: The following 'exec_depend's are only needed in downstream tests,
+       so ideally a 'test_export_depend' (similar to 'build_export_depend') would be used.
+       Since that feature doesn't exist yet, they are 'exec_depend'-ed.
+       See https://github.com/ros2/rosidl_python/pull/199 -->
+  <exec_depend>ament_cmake_cppcheck</exec_depend>
+  <exec_depend>ament_cmake_cpplint</exec_depend>
+  <exec_depend>ament_cmake_flake8</exec_depend>
+  <exec_depend>ament_cmake_pep257</exec_depend>
+  <exec_depend>ament_cmake_uncrustify</exec_depend>
+
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>python3-numpy</exec_depend>
   <exec_depend>rosidl_cli</exec_depend>