diff --git a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
index 2516165..30d6827 100644
--- a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
+++ b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
@@ -10,6 +10,9 @@ 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)}"
 
+# desktop RDEPENDS on rviz packages.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-desktop ros-rviz', '', 'desktop', 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)}"