diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1dc4c2ab..3800a612 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -260,7 +260,7 @@ ELSE()
    ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
    ## is used, also find other catkin packages
    find_package(catkin REQUIRED COMPONENTS 
-           cv_bridge roscpp rospy sensor_msgs std_msgs image_transport genmsg message_filters pcl_ros tf
+           cv_bridge roscpp rospy sensor_msgs std_msgs image_transport genmsg message_filters tf
    )
 
    ## Generate messages in the 'msg' folder
@@ -286,7 +286,7 @@ ELSE()
    ## CATKIN_DEPENDS: catkin_packages dependent projects also need
    ## DEPENDS: system dependencies of this project that dependent projects also need
    catkin_package(
-     CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs image_transport message_filters pcl_ros tf
+     CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs image_transport message_filters tf
    )
 
    ###########
diff --git a/package.xml b/package.xml
index ff0ce0c2..2370e438 100644
--- a/package.xml
+++ b/package.xml
@@ -20,7 +20,6 @@
   <build_depend>std_srvs</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>message_filters</build_depend>
-  <build_depend>pcl_ros</build_depend>
   <build_depend>tf</build_depend>
   
   <run_depend>cv_bridge</run_depend>
@@ -31,7 +30,6 @@
   <run_depend>std_srvs</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>message_filters</run_depend>
-  <run_depend>pcl_ros</run_depend>
   <run_depend>tf</run_depend>
   
 </package>