diff --git a/builder/image-ros.sh b/builder/image-ros.sh
index 8acd9e17..30c7df7f 100755
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -131,7 +131,6 @@ touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/w
 
 echo_stamp "Installing additional ROS packages"
 my_travis_retry apt-get install -y --no-install-recommends \
-    ros-${ROS_DISTRO}-dynamic-reconfigure \
     ros-${ROS_DISTRO}-rosbridge-suite \
     ros-${ROS_DISTRO}-rosserial \
     ros-${ROS_DISTRO}-usb-cam \
@@ -140,7 +139,6 @@ my_travis_retry apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-rosshow \
     ros-${ROS_DISTRO}-cmake-modules \
     ros-${ROS_DISTRO}-image-view \
-    ros-${ROS_DISTRO}-image-geometry \
     ros-${ROS_DISTRO}-nodelet-topic-tools \
     ros-${ROS_DISTRO}-stereo-msgs
 
diff --git a/clover/package.xml b/clover/package.xml
index 397ea808..dca524c8 100644
--- a/clover/package.xml
+++ b/clover/package.xml
@@ -43,6 +43,7 @@
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
   <depend>dynamic_reconfigure</depend>
   <depend>image_proc</depend>
+  <depend>image_geometry</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <test_depend>ros_pytest</test_depend>