diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index dd97155d..c5605e1f 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -10,7 +10,6 @@ find_package(PCL REQUIRED)
 find_package(Qt5Widgets QUIET)
 
 if(NOT "${PCL_LIBRARIES}" STREQUAL "")
-  list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
   # FIXME: this causes duplicates and not found error in ubuntu:zesty
   list(REMOVE_ITEM PCL_LIBRARIES "/usr/lib/libmpi.so")
 endif()
diff --git a/pcl_ros/package.xml b/pcl_ros/package.xml
index 2af733df..67416087 100644
--- a/pcl_ros/package.xml
+++ b/pcl_ros/package.xml
@@ -42,9 +42,6 @@
   <depend>std_msgs</depend>
   <depend>tf</depend>
   <depend>tf2_eigen</depend>
-  <depend>libvtk-java</depend>
-  <!-- libproj-dev needed due to error in vtk6 -->
-  <depend>proj</depend>
   <!-- qtbase5-dev needed due to error in qt5 -->
   <depend>qtbase5-dev</depend>