diff --git a/Tools/ros2/README.md b/Tools/ros2/README.md
index c6d6504517..d847eeea3a 100644
--- a/Tools/ros2/README.md
+++ b/Tools/ros2/README.md
@@ -1,12 +1,12 @@
 # ArduPilot ROS 2 packages
 
- This directory contains ROS 2 packages and configuration files for running
- ROS 2 processes and nodes that communicate with the ArduPilot DDS client
- library using the microROS agent. It contains the following packages:
+This directory contains ROS 2 packages and configuration files for running
+ROS 2 processes and nodes that communicate with the ArduPilot DDS client
+library using the microROS agent. It contains the following packages:
  
 #### `ardupilot_sitl`
 
-A `colcon` package for building and running ArduPilot SITL using the ROS 2 CLI.
+This is a `colcon` package for building and running ArduPilot SITL using the ROS 2 CLI.
 For example `ardurover` SITL may be launched with:
 
 ```bash
@@ -21,6 +21,14 @@ For example, MAVProxy can be launched, and you can enable the `console` and `map
 ros2 launch ardupilot_sitl sitl_mavproxy.launch.py map:=True console:=True 
 ```
 
+ArduPilot SITL does not yet expose all arguments from the underlying binary.
+See [#27714](https://github.com/ArduPilot/ardupilot/issues/27714) for context.
+
+To see all current options, use the `-s` argument:
+```bash
+ros2 launch ardupilot_sitl sitl.launch.py -s
+```
+
 #### `ardupilot_dds_test`
 
 A `colcon` package for testing communication between `micro_ros_agent` and the
diff --git a/Tools/ros2/ardupilot_dds_tests/package.xml b/Tools/ros2/ardupilot_dds_tests/package.xml
index b4cc9fa2a0..528f4794a1 100644
--- a/Tools/ros2/ardupilot_dds_tests/package.xml
+++ b/Tools/ros2/ardupilot_dds_tests/package.xml
@@ -27,12 +27,15 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ardupilot_msgs</test_depend>
   <test_depend>ardupilot_sitl</test_depend>
+  <test_depend>builtin_interfaces</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_pytest</test_depend>
   <test_depend>launch_ros</test_depend>
   <exec_depend>micro_ros_msgs</exec_depend>
   <test_depend>python3-pytest</test_depend>
   <test_depend>rclpy</test_depend>
+  <test_depend>sensor_msgs</test_depend>
+
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/Tools/ros2/ardupilot_sitl/package.xml b/Tools/ros2/ardupilot_sitl/package.xml
index 5cc0abfd72..fd1cc359ed 100644
--- a/Tools/ros2/ardupilot_sitl/package.xml
+++ b/Tools/ros2/ardupilot_sitl/package.xml
@@ -11,7 +11,15 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
+  <exec_depend>ardupilot_msgs</exec_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>geographic_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>micro_ros_agent</exec_depend>
+  <exec_depend>rosgraph_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>tf2_msgs</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_black</test_depend>