diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index 72a54a27..eb3a6e60 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -21,7 +21,6 @@ endif()
 ## Find catkin packages
 find_package(catkin REQUIRED COMPONENTS
   dynamic_reconfigure
-  genmsg
   nodelet
   nodelet_topic_tools
   pcl_conversions
@@ -90,7 +89,7 @@ catkin_package(
 ## Declare the pcl_ros_tf library
 add_library(pcl_ros_tf src/transforms.cpp)
 target_link_libraries(pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
-add_dependencies(pcl_ros_tf pcl_ros_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(pcl_ros_tf ${catkin_EXPORTED_TARGETS})
 
 ## Nodelets
 
diff --git a/pcl_ros/package.xml b/pcl_ros/package.xml
index a4b93dbe..4e0cf8e0 100644
--- a/pcl_ros/package.xml
+++ b/pcl_ros/package.xml
@@ -24,7 +24,6 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>rosconsole</build_depend>
-  <build_depend>genmsg</build_depend>
   <build_depend>roslib</build_depend>
 
   <depend>dynamic_reconfigure</depend>