diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8a25b7e..6ceb264 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,13 +2,6 @@ cmake_minimum_required(VERSION 3.10.2)
 project(flexbe_app)
 
 find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_python REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclpy REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
 
 # use add_library() or add_executable() as required
 #add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})
diff --git a/package.xml b/package.xml
index 7adff69..397c2a5 100644
--- a/package.xml
+++ b/package.xml
@@ -21,6 +21,7 @@
 
     <exec_depend>rclpy</exec_depend>
     <exec_depend>rclcpp</exec_depend>
+    <exec_depend>rclcpp_action</exec_depend>
     <exec_depend>std_msgs</exec_depend>
     <exec_depend>ros2pkg</exec_depend>
     <exec_depend>flexbe_msgs</exec_depend>