diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1e851898ef96e2008e94ef302069bfac6de5b855..c9a7532d044d93fb0007d907e2885ec1b52bdd0d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,7 +12,6 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   std_msgs
   std_srvs
-  body_tracker_msgs
   moveit_ros_planning_interface
   rviz_visual_tools
   moveit_visual_tools
@@ -129,7 +128,6 @@ catkin_package(
     tf2
     tf2_ros
     tf2_geometry_msgs
-    body_tracker_msgs
     control_msgs
     roslib
     trajectory_msgs
diff --git a/package.xml b/package.xml
index 3e2f3fceee40fcc62e6e13830cbb906be18e4a19..caec70c2204691ac3c79edf32669df4d6cd44e4c 100644
--- a/package.xml
+++ b/package.xml
@@ -21,7 +21,6 @@
   <build_depend>tf2</build_depend>
   <build_depend>tf2_geometry_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>body_tracker_msgs</build_depend>
   <build_depend>control_msgs</build_depend>
   <build_depend>roslib</build_depend>
   <build_depend>trajectory_msgs</build_depend>
@@ -32,7 +31,7 @@
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>std_srvss</build_export_depend>
+  <build_export_depend>std_srvs</build_export_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>tf2</build_export_depend>
   <build_export_depend>tf2_ros</build_export_depend>
@@ -40,7 +39,6 @@
   <build_export_depend>roslib</build_export_depend>
   <build_export_depend>trajectory_msgs</build_export_depend>
   <build_export_depend>eigen_conversions</build_export_depend>
-  <build_export_depend>body_tracker_msgs</build_export_depend>
   <build_export_depend>control_msgs</build_export_depend>
   <build_export_depend>controller_manager_msgs</build_export_depend>
   <build_export_depend>remote_rosbag_record</build_export_depend>
@@ -53,7 +51,6 @@
   <exec_depend>tf2_geometry_msgs</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
   <exec_depend>tf2</exec_depend>
-  <exec_depend>body_tracker_msgs</exec_depend>
   <exec_depend>control_msgs</exec_depend>
   <exec_depend>roslib</exec_depend>
   <exec_depend>trajectory_msgs</exec_depend>
diff --git a/src/endeff_goal_record.cpp b/src/endeff_goal_record.cpp
index 5cd4a332c2f034278cfa04f9ad06ccd71359f814..c7d990dd492fd11c0377d6857a1f18eab76662c1 100755
--- a/src/endeff_goal_record.cpp
+++ b/src/endeff_goal_record.cpp
@@ -8,7 +8,6 @@
 
 #include <geometry_msgs/Pose.h>
 #include <std_msgs/String.h>
-#include <body_tracker_msgs/Skeleton.h>
 
 #include <boost/foreach.hpp>
 #include <boost/lexical_cast.hpp>
diff --git a/src/joints_goal_record.cpp b/src/joints_goal_record.cpp
index be996088952e40d35d63883a725ce61da1b693f6..0a3ed7bfc671544c981c748ccdd1107210b2bf00 100755
--- a/src/joints_goal_record.cpp
+++ b/src/joints_goal_record.cpp
@@ -8,7 +8,6 @@
 
 #include <geometry_msgs/Pose.h>
 #include <std_msgs/String.h>
-#include <body_tracker_msgs/Skeleton.h>
 
 #include <boost/foreach.hpp>
 #include <boost/lexical_cast.hpp>