How can I list the dependencies of a package

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An alternative to rospack depends is rqt_dep which visualizes the connections like so:

The documentation for rqt_dep seems to be non-existent, but thankfully it is a simple interface so you can figure out what most options do through trial-and-error.

Tip: If you are using rqt_dep to show the dependencies for a package, make sure you source the workspace that contains that package first. Otherwise, when you type in your package name, nothing will show up.

In addition to the rospack command, you can open the package CMakelist.txt file and read the dependencies.