diff --git a/launch/launch/utilities/type_utils.py b/launch/launch/utilities/type_utils.py
index cae637376..0248daa8c 100644
--- a/launch/launch/utilities/type_utils.py
+++ b/launch/launch/utilities/type_utils.py
@@ -26,9 +26,7 @@
 from typing import Type
 from typing import Union
 
-# yaml has type annotations in typeshed, but those cannot be installed via rosdep
-# since there is no definition for types-PyYAML
-import yaml  # type: ignore
+import yaml
 
 from .ensure_argument_type_impl import ensure_argument_type
 from .normalize_to_list_of_substitutions_impl import normalize_to_list_of_substitutions
diff --git a/launch/package.xml b/launch/package.xml
index b175cd1c3..3972e3ebb 100644
--- a/launch/package.xml
+++ b/launch/package.xml
@@ -31,6 +31,7 @@
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>ament_mypy</test_depend>
+  <test_depend>python3-types-pyyaml</test_depend>
   <test_depend>python3-pytest</test_depend>
 
   <export>