diff --git a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
index 84ff064..4f8343a 100644
--- a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
+++ b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
@@ -49,6 +49,11 @@ RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-gazebo', '
 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)}"
 
+# MRPT requires the "opengl" distro feature.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-mrpt opengl', '', 'mrpt2', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-mrpt opengl', '', 'wxpython', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-mrpt opengl', '', 'wxwidgets', d)}"
+
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-realsense', '', 'librealsense2', d)}"
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-realsense', '', 'realsense-camera-msgs', d)}"
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-realsense', '', 'realsense-ros2-camera', d)}"