diff --git a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
index 6e4bb31..498cf57 100644
--- a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
+++ b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
@@ -15,6 +15,12 @@ RDEPENDS_${PN}_remove = "${@bb.utils.contains('LICENSE_FLAGS_WHITELIST', 'commer
 # desktop RDEPENDS on rviz packages.
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-desktop ros-rviz', '', 'desktop', d)}"
 
+# NB. gazebo-msgs is a dependency of non-Gazebo packages, so it doesn't appear here.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-gazebo', '', 'gazebo-rosdev', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-gazebo', '', 'gazebo-plugins', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-gazebo', '', 'gazebo-ros', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-gazebo', '', 'gazebo-ros-pkgs', d)}"
+
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-qt5', '', 'python-qt-binding', d)}"
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-qt5', '', 'qt-dotgraph', d)}"
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-qt5', '', 'qt-gui', d)}"