diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index b1b775f51..e23f7fd38 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -27,3 +27,4 @@ jobs:
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
           ROS_REPO: ${{ matrix.ROS_REPO }}
           CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
+          ADDITIONAL_DEBS: docker.io netcat-openbsd # Needed for integration tests
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index 0d77c6311..ba651f75f 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -27,3 +27,4 @@ jobs:
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
           ROS_REPO: ${{ matrix.ROS_REPO }}
           CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
+          ADDITIONAL_DEBS: docker.io netcat-openbsd # Needed for integration tests
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index 1069b5677..780cd6bb5 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/package.xml
@@ -59,7 +59,6 @@
   <exec_depend>velocity_controllers</exec_depend>
   <exec_depend>xacro</exec_depend>
 
-  <test_depend>docker.io</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
 
   <export>