diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index d72f99a7485bb1e7d152db3b0f6ef3c430670188..693bd863a08ccb6fb71a7cb543b6de324053cdd5 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -155,7 +155,6 @@ RDEPENDS_${PN} = "\
     communication-tests \
     cyclic-timer-tests \
     oneshot-timer-tests \
-    urdfdom-headers \
     urdfdom-py \
     urdf-tutorial \
     velodyne-driver \