diff --git a/recipes-ros/image-pipeline/image-view_1.12.19.bb b/recipes-ros/image-pipeline/image-view_1.12.19.bb
index 4b48b63..71a9ea7 100644
--- a/recipes-ros/image-pipeline/image-view_1.12.19.bb
+++ b/recipes-ros/image-pipeline/image-view_1.12.19.bb
@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "camera-calibration-parsers cv-bridge image-transport message-filters nodelet opencv rosconsole roscpp sensor-msgs std-srvs stereo-msgs"
+DEPENDS = "camera-calibration-parsers cv-bridge dynamic-reconfigure image-transport message-filters nodelet opencv rosconsole roscpp sensor-msgs std-srvs stereo-msgs"
 
 require image-pipeline.inc
diff --git a/recipes-ros/packagegroups/packagegroup-ros-comm.bb b/recipes-ros/packagegroups/packagegroup-ros-comm.bb
index c222f9e..585c2f0 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-comm.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-comm.bb
@@ -9,6 +9,7 @@ RDEPENDS_${PN} = "\
     rosconsole \
     rosparam \
     catkin \
+    catkin-runtime \
     genmsg \
     rosgraph \
     genpy \
@@ -50,4 +51,5 @@ RDEPENDS_${PN} = "\
     message-runtime \
     rostime \
     gencpp \
-    "
+    roslz4 \
+"
diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 78b5396..b0dd2b4 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -37,6 +37,7 @@ RDEPENDS_${PN} = "\
     tf2-msgs \
     tf2-py \
     tf2-ros \
+    tf2-sensor-msgs \
     tf2-tools \
     eigen-conversions \
     kdl-conversions \
@@ -65,6 +66,8 @@ RDEPENDS_${PN} = "\
     hardware-interface \
     joint-limits-interface \
     transmission-interface \
+    collada-parser \
+    collada-urdf \
     kdl-parser \
     resource-retriever \
     urdf-parser-plugin \
@@ -171,11 +174,20 @@ RDEPENDS_${PN} = "\
     rosbridge-server \
     rosbridge-suite \
     ar-track-alvar \
+    ar-track-alvar-msgs \
+    moveit-core \
+    moveit-msgs \
+    moveit-ros-perception \
     moveit-ros-planning \
+    mavros-msgs \
+    cv-camera \
+    object-recognition-msgs \
+    srdfdom \
 "
 
-# collada-parser and collada-urdf require collada-dom, which does not compile with gcc6.
+# ros-mavlink fails while configuring; libmavconn, mavros, mavros-extras depend on ros-mavlink.
+# urdfdom-headers is an empty deploy package.
 # image-view requires gtk+, but it cannot be found by cmake for some reason.
 # sound-play requires python-gst (which is not available in any layers' master branch)
-# joint-state-publisher still has some issues.
+# joint-state-publisher requires opengl distro feature and has further issues building.
 # freenect-camera and freenect-launch requires opengl distro feature.