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I've read this link: http://wiki.ros.org/kinetic/Installation/Source and have known that the command rosdep install --from-paths src --ignore-src --rosdistro kinetic --simulate can list all necessary dependencies of ROS on a clean system.

Also, I've read this link: http://wiki.ros.org/catkin/package.xml

So I'm thinking if it is possible to list only the exec_depend of ROS?

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In the docs, what I see is rospack depends. It is for (recursively) listing the dependencies of your package. Rosdep on the other hand, is for installing dependencies.

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