diff --git a/roscopter/CMakeLists.txt b/roscopter/CMakeLists.txt
index 3b72066..70b54b3 100644
--- a/roscopter/CMakeLists.txt
+++ b/roscopter/CMakeLists.txt
@@ -19,8 +19,6 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(Eigen3 REQUIRED)
-# find_package(yaml-cpp REQUIRED)
-find_package(inertial_sense QUIET)
 find_package(rosidl_default_generators REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclpy REQUIRED)
@@ -28,31 +26,12 @@ find_package(roscopter_msgs REQUIRED)
 find_package(rosflight_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
-find_package(nav_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
 
-if (${inertial_sense_FOUND})
-    message(WARNING "found inertial sense library")
-    add_definitions(-DINERTIAL_SENSE)
-else()
-    message(WARNING "Did NOT find inertial sense library")
-endif()
-
-find_package(ublox_read_2 QUIET)
-
-if (${ublox_read_2_FOUND})
-    message(WARNING "found ublox_read_2 library")
-    add_definitions(-DUBLOX)
-else()
-    message(WARNING "Did NOT find ublox_read_2 library")
-endif()
-
 ament_export_include_directories(include ${EIGEN3_INCLUDE_DIRS})
-ament_export_dependencies(rclcpp rclpy roscopter_msgs rosflight_msgs std_msgs nav_msgs sensor_msgs Eigen3 geometry_msgs)
+ament_export_dependencies(rclcpp rclpy roscopter_msgs rosflight_msgs std_msgs sensor_msgs Eigen3 geometry_msgs)
 
 add_definitions(-DROSCOPTER_DIR="${CMAKE_CURRENT_LIST_DIR}")