diff --git a/launch_testing/package.xml b/launch_testing/package.xml
index 87f0b926..60c49ad3 100644
--- a/launch_testing/package.xml
+++ b/launch_testing/package.xml
@@ -19,12 +19,13 @@
 
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>launch</exec_depend>
-  <!-- explicitly depend on the main launch frontends -->
-  <exec_depend>launch_xml</exec_depend>
-  <exec_depend>launch_yaml</exec_depend>
   <exec_depend>osrf_pycommon</exec_depend>
   <exec_depend>python3-pytest</exec_depend>
 
+  <!-- Explicit group resolution - see ros-infrastructure/catkin_pkg#369 -->
+  <exec_depend condition="$DISABLE_GROUPS_WORKAROUND != 1">launch_xml</exec_depend>
+  <exec_depend condition="$DISABLE_GROUPS_WORKAROUND != 1">launch_yaml</exec_depend>
+
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>