diff --git a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
index dd82f9e..61feb26 100644
--- a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
+++ b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
@@ -11,3 +11,15 @@ RDEPENDS_${PN}_remove = "rcl-logging-log4cxx"
 
 # OE won't let us build ffmpeg unless LICENSE_FLAGS_WHITELIST contains "commerical".
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('LICENSE_FLAGS_WHITELIST', 'commercial', '', 'ffmpeg', d)}"
+
+# RViz requires the "opengl" distro feature.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'object-analytics-rviz', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-assimp-vendor', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-common', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-default-plugins', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-ogre-vendor', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-rendering', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-rendering', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-rendering-tests', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-visual-testing-framework', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz2', d)}"