diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
index 7d21c5da..d10d2f5b 100644
--- a/core/CMakeLists.txt
+++ b/core/CMakeLists.txt
@@ -14,7 +14,6 @@ find_package(moveit_task_constructor_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rviz_marker_tools REQUIRED)
find_package(tf2_eigen REQUIRED)
-find_package(tl_expected REQUIRED)
find_package(visualization_msgs REQUIRED)
set(CMAKE_CXX_STANDARD 17)
@@ -45,6 +44,5 @@ ament_export_dependencies(moveit_task_constructor_msgs)
ament_export_dependencies(rclcpp)
ament_export_dependencies(rviz_marker_tools)
ament_export_dependencies(tf2_eigen)
-ament_export_dependencies(tl_expected)
ament_export_dependencies(visualization_msgs)
ament_package()
diff --git a/core/package.xml b/core/package.xml
index 7a0d7c38..3cb44239 100644
--- a/core/package.xml
+++ b/core/package.xml
@@ -22,7 +22,6 @@
rclcpp
rviz_marker_tools
tf2_eigen
- tl_expected
visualization_msgs
ament_cmake_gmock