diff --git a/drake_ros/CMakeLists.txt b/drake_ros/CMakeLists.txt
index a40174c5..82b6996f 100644
--- a/drake_ros/CMakeLists.txt
+++ b/drake_ros/CMakeLists.txt
@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(drake REQUIRED)
+find_package(Python3 COMPONENTS Interpreter Development)
 # Must use Drake's fork of Pybind11
 find_package(pybind11 REQUIRED HINTS "${drake_DIR}/../pybind11" NO_DEFAULT_PATH)
 
diff --git a/drake_ros/drake_ros/CMakeLists.txt b/drake_ros/drake_ros/CMakeLists.txt
index fba53e36..05b7a13d 100644
--- a/drake_ros/drake_ros/CMakeLists.txt
+++ b/drake_ros/drake_ros/CMakeLists.txt
@@ -25,7 +25,6 @@ install(
 )
 
 if(BUILD_TESTING)
-  find_package(Python3 COMPONENTS Interpreter)
   find_package(ament_cmake_test REQUIRED)
 
   # TODO(eric.cousineau): I am not sure how to place a test-only Python library