diff --git a/panther_description/package.xml b/panther_description/package.xml
index 6661fb5a..6df0f171 100644
--- a/panther_description/package.xml
+++ b/panther_description/package.xml
@@ -23,7 +23,7 @@
   <exec_depend>nav2_common</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros_components_description</exec_depend>
-  <exec_depend>rviz</exec_depend>
+  <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <export>