diff --git a/vinca/distro.py b/vinca/distro.py
index 8f3c213..c56010a 100644
--- a/vinca/distro.py
+++ b/vinca/distro.py
@@ -7,7 +7,6 @@
 from concurrent.futures import ThreadPoolExecutor
 from typing import Iterable, Optional
 
-import catkin_pkg.package
 import requests
 from rosdistro import get_cached_distribution, get_index, get_index_url
 from rosdistro.dependency_walker import DependencyWalker
@@ -116,9 +115,12 @@ def __init__(
         python_version=None,
         snapshot=None,
         additional_packages_snapshot=None,
+        distribution_cache=None,
     ):
         index = get_index(get_index_url())
-        self._distro = get_cached_distribution(index, distro_name)
+        self._distro = get_cached_distribution(
+            index, distro_name, cache=distribution_cache
+        )
         self.distro_name = distro_name
         self.snapshot = snapshot
         self.additional_packages_snapshot = additional_packages_snapshot
@@ -169,11 +171,6 @@ def get_depends(
 
         ignore_pkgs = set(ignore_pkgs or ())
 
-        if self.snapshot:
-            dependencies = self._get_snapshot_recursive_depends(pkg, ignore_pkgs)
-            self._depends_cache[cache_key] = set(dependencies)
-            return dependencies
-
         dependencies = set()
         visited = {pkg}
         packages_to_check = {pkg}
@@ -194,18 +191,32 @@ def get_depends(
         self._depends_cache[cache_key] = set(dependencies)
         return dependencies
 
+    def get_direct_depends(self, pkg: str) -> set[str]:
+        """Return the direct ROS dependencies of a package."""
+        return self._get_direct_depends(pkg)
+
     def _get_direct_depends(self, pkg: str) -> set[str]:
         """Return direct dependencies, caching package metadata across root walks."""
 
         if pkg in self._direct_depends_cache:
             return set(self._direct_depends_cache[pkg])
 
+        snapshot_info = self._get_snapshot_package_info(pkg)
+        additional_packages_snapshot = self.additional_packages_snapshot or {}
+        is_additional_package = pkg in additional_packages_snapshot
+        if snapshot_info is not None and not is_additional_package:
+            if "dependencies" not in snapshot_info:
+                raise RuntimeError(
+                    f"Snapshot metadata for '{pkg}' has no dependencies; "
+                    "regenerate the rosdistro snapshot"
+                )
+            direct = set(snapshot_info["dependencies"] or [])
+            self._direct_depends_cache[pkg] = set(direct)
+            return direct
+
         # if pkg comes from additional_packages_snapshot, extract from its package.xml
-        if (
-            self.additional_packages_snapshot
-            and pkg in self.additional_packages_snapshot
-        ):
-            pkg_info = self.additional_packages_snapshot[pkg]
+        if is_additional_package:
+            pkg_info = additional_packages_snapshot[pkg]
             xml_str = self.get_package_xml_for_additional_package(pkg_info)
             # parse XML
             import xml.etree.ElementTree as ET
@@ -249,48 +260,6 @@ def _get_direct_depends(self, pkg: str) -> set[str]:
         self._direct_depends_cache[pkg] = set(direct)
         return direct
 
-    def _get_snapshot_recursive_depends(
-        self, pkg: str, ignore_pkgs: Optional[Iterable[str]] = None
-    ) -> set[str]:
-        """Return ROS dependencies using only package manifests pinned by the snapshot."""
-        dependencies: set[str] = set()
-        ignored = set(ignore_pkgs or [])
-        packages_to_check = {pkg}
-        checked_packages = set()
-        dependency_attributes = (
-            "buildtool_depends",
-            "buildtool_export_depends",
-            "build_depends",
-            "build_export_depends",
-            "run_depends",
-            "test_depends",
-            "exec_depends",
-        )
-
-        while packages_to_check:
-            package_name = sorted(packages_to_check)[0]
-            packages_to_check.remove(package_name)
-            if package_name in ignored or package_name in checked_packages:
-                continue
-            checked_packages.add(package_name)
-
-            package_xml = self.get_release_package_xml(package_name)
-            package = catkin_pkg.package.parse_package_string(package_xml)
-            package.evaluate_conditions(os.environ)
-            direct_dependencies: set[str] = {
-                dependency.name
-                for attribute in dependency_attributes
-                for dependency in getattr(package, attribute)
-                if dependency.evaluated_condition is not False
-                and dependency.name not in ignored
-                and self.check_package(dependency.name)
-            }
-            new_dependencies = direct_dependencies - dependencies
-            dependencies |= new_dependencies
-            packages_to_check |= new_dependencies - checked_packages
-
-        return dependencies
-
     def _get_snapshot_package_info(self, pkg_name):
         if not self.snapshot:
             return None
@@ -396,13 +365,7 @@ def get_version(self, pkg_name):
         return repo.version.split("-")[0]
 
     def live_cache_matches_snapshot(self, pkg_name, snapshot_entry):
-        """Return whether rosdistro's cached manifest is the pinned snapshot source.
-
-        A snapshot pins the release repository URL, the package-specific release
-        tag, and the release version.  Only an exact match may reuse rosdistro's
-        local ``DistributionCache``; otherwise the manifest must be read from the
-        immutable snapshot source.
-        """
+        """Return whether rosdistro's cached manifest is the pinned snapshot source."""
 
         for live_name in (pkg_name, pkg_name.replace("_", "-")):
             try:
diff --git a/vinca/snapshot.py b/vinca/snapshot.py
index 0a89587..74cace9 100644
--- a/vinca/snapshot.py
+++ b/vinca/snapshot.py
@@ -2,6 +2,12 @@
 import datetime
 
 import yaml
+from rosdistro import (
+    DistributionCache,
+    get_distribution_cache_string,
+    get_index,
+    get_index_url,
+)
 
 from .distro import Distro
 
@@ -50,9 +56,14 @@ def main():
     # Get the current UTC time
     utc_time = datetime.datetime.utcnow().strftime("%Y-%m-%dT%H:%M:%SZ")
 
-    # Note: we intentionally do not pass any kind of additional packages snapshot
-    # here, as it would pollute the snapshot with additional packages
-    distro = Distro(args.distro)
+    # Fetch the cache once and use that exact data for both the package pins and
+    # the dependency metadata stored in the snapshot.
+    # TODO: Consider referencing immutable cache release assets instead if they
+    # become available through https://github.com/ros/rosdistro/pull/50112.
+    index = get_index(get_index_url())
+    cache_yaml = get_distribution_cache_string(index, args.distro)
+    cache = DistributionCache(args.distro, yaml.safe_load(cache_yaml))
+    distro = Distro(args.distro, distribution_cache=cache)
 
     if args.package is None:
         deps = distro.get_package_names()
@@ -68,7 +79,7 @@ def main():
 
     output = {}
 
-    for dep in deps:
+    for dep in sorted(deps):
         try:
             url, tag, _ = distro.get_released_repo(dep)
             version = distro.get_version(dep)
@@ -80,7 +91,12 @@ def main():
             )
             continue
 
-        output[dep] = {"url": url, "version": version, "tag": tag}
+        output[dep] = {
+            "url": url,
+            "version": version,
+            "tag": tag,
+            "dependencies": sorted(distro.get_direct_depends(dep)),
+        }
         if repository := distro.get_repository_url(dep):
             output[dep]["repository"] = repository
 
diff --git a/vinca/test_snapshot_metadata.py b/vinca/test_snapshot_metadata.py
index 6e39090..ca7eb56 100644
--- a/vinca/test_snapshot_metadata.py
+++ b/vinca/test_snapshot_metadata.py
@@ -1,6 +1,8 @@
 from typing import Any
 from unittest.mock import Mock, patch
 
+import pytest
+
 import vinca.main as main
 import vinca.recipes as recipes
 from vinca.distro import Distro
@@ -37,12 +39,14 @@ def make_snapshot_distro(monkeypatch):
             "repository": "https://github.com/example/snapshot-package.git",
             "version": "1.0.0",
             "tag": "release/rolling/snapshot_package/1.0.0-1",
+            "dependencies": ["snapshot_dependency"],
         },
         "snapshot_dependency": {
             "url": "https://github.com/example/snapshot-dependency-release.git",
             "repository": "https://github.com/example/snapshot-dependency.git",
             "version": "1.0.0",
             "tag": "release/rolling/snapshot_dependency/1.0.0-1",
+            "dependencies": [],
         },
     }
     distro = Distro.__new__(Distro)
@@ -55,9 +59,6 @@ def make_snapshot_distro(monkeypatch):
     distro._depends_cache = {}
     distro._direct_depends_cache = {}
     distro._distro = Mock()
-    distro._distro.get_release_package_xml.return_value = LIVE_PACKAGE_XML
-    distro._walker = Mock()
-
     snapshot_xml_by_url = {
         "https://raw.githubusercontent.com/example/snapshot-package-release/"
         "release/rolling/snapshot_package/1.0.0-1/package.xml": (SNAPSHOT_PACKAGE_XML),
@@ -71,6 +72,7 @@ def make_snapshot_distro(monkeypatch):
         "_download_raw_pkg_xml_or_cached",
         lambda url: snapshot_xml_by_url[url],
     )
+    distro._walker = Mock()
     return distro
 
 
@@ -98,7 +100,7 @@ def test_snapshot_package_xml_and_dependencies_do_not_follow_live_rosdistro(
     assert "live_dependency" not in package_xml_content
     assert distro.get_depends("snapshot_package") == {"snapshot_dependency"}
     distro._distro.get_release_package_xml.assert_not_called()
-    distro._walker.get_recursive_depends.assert_not_called()
+    distro._walker.get_depends.assert_not_called()
 
 
 def test_snapshot_package_xml_uses_matching_live_distribution_cache(monkeypatch):
@@ -113,6 +115,7 @@ def test_snapshot_package_xml_uses_matching_live_distribution_cache(monkeypatch)
     distro._distro.repositories = {
         "snapshot-package": Mock(release_repository=release_repository)
     }
+    distro._distro.get_release_package_xml.return_value = LIVE_PACKAGE_XML
 
     with patch(
         "vinca.distro.get_release_tag",
@@ -149,6 +152,14 @@ def test_snapshot_package_xml_does_not_use_live_cache_after_snapshot_change(
     distro._distro.get_release_package_xml.assert_not_called()
 
 
+def test_snapshot_without_dependencies_requires_regeneration(monkeypatch):
+    distro = make_snapshot_distro(monkeypatch)
+    del distro.snapshot["snapshot_package"]["dependencies"]
+
+    with pytest.raises(RuntimeError, match="regenerate the rosdistro snapshot"):
+        distro.get_depends("snapshot_package")
+
+
 def test_snapshot_metadata_generates_dependency_required_by_pinned_source(
     monkeypatch,
 ):
@@ -307,3 +318,31 @@ def test_empty_snapshot_keeps_live_rosdistro_behavior():
     assert distro.get_release_package_xml("live_package") == LIVE_PACKAGE_XML
     assert distro.get_depends("live_package") == {"live_dependency"}
     assert set(distro.get_package_names()) == {"live_package"}
+
+
+def test_read_snapshot_merges_additional_packages(tmp_path, monkeypatch):
+    snapshot_path = tmp_path / "rosdistro_snapshot.yaml"
+    additional_path = tmp_path / "rosdistro_additional_recipes.yaml"
+    snapshot_path.write_text(
+        """\
+snapshot_package:
+  version: 1.0.0
+"""
+    )
+    additional_path.write_text(
+        """\
+additional_package:
+  version: 2.0.0
+"""
+    )
+    monkeypatch.chdir(tmp_path)
+
+    snapshot, additional = main.read_snapshot(
+        {
+            "rosdistro_snapshot": snapshot_path.name,
+            "rosdistro_additional_recipes": additional_path.name,
+        }
+    )
+
+    assert set(snapshot) == {"snapshot_package", "additional_package"}
+    assert additional == {"additional_package": {"version": "2.0.0"}}