diff --git a/CMakeLists.txt b/CMakeLists.txt
index eff9858d8..7e91f6b58 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,8 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
   std_srvs
   tf2
   tf2_geometry_msgs
-  tf2_ros
-  xmlrpcpp)
+  tf2_ros)
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(YAML_CPP yaml-cpp)
@@ -112,7 +111,6 @@ catkin_package(
     tf2
     tf2_geometry_msgs
     tf2_ros
-    xmlrpcpp
   DEPENDS
     ${EIGEN_PACKAGE}
     YAML_CPP
diff --git a/doc/manifest.yaml b/doc/manifest.yaml
index 2f8dbbedd..a0dc0c4f8 100644
--- a/doc/manifest.yaml
+++ b/doc/manifest.yaml
@@ -22,7 +22,6 @@ depends:
 - rosunit
 - diagnostic_msgs
 - geographic_msgs
-- xmlrpcpp
 - python-catkin-pkg
 - geometry_msgs
 - rosbag
diff --git a/package.xml b/package.xml
index c3cb1b156..d31133c8e 100644
--- a/package.xml
+++ b/package.xml
@@ -31,7 +31,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>xmlrpcpp</depend>
   <depend>yaml-cpp</depend>
 
   <build_depend>geographiclib</build_depend>