diff --git a/recipes-ros2/ros2cli/ros2cli_git.bb b/recipes-ros2/ros2cli/ros2cli_git.bb
index fea579a..fc57813 100644
--- a/recipes-ros2/ros2cli/ros2cli_git.bb
+++ b/recipes-ros2/ros2cli/ros2cli_git.bb
@@ -8,4 +8,4 @@ S = "${WORKDIR}/git/ros2cli"
 
 inherit setuptools3
 
-RDEPENDS_${PN} += "rclpy python3-setuptools"
+RDEPENDS_${PN} += "rclpy python3-setuptools ${PYTHON_PN}-xmlrpc ${PYTHON_PN}-pydoc"
diff --git a/recipes-ros2/rosidl/rosidl-generator-c_git.bb b/recipes-ros2/rosidl/rosidl-generator-c_git.bb
index 292b1be..2af8b56 100644
--- a/recipes-ros2/rosidl/rosidl-generator-c_git.bb
+++ b/recipes-ros2/rosidl/rosidl-generator-c_git.bb
@@ -7,6 +7,8 @@ include rosidl.inc
 
 RDEPENDS_${PN} += " \
     rosidl-parser \
+    ${PYTHON_PN}-json \
+    ${PYTHON_PN}-empy \
 "
 
 RDEPENDS_${PN}-dev += " \