diff --git a/cob_actions/CMakeLists.txt b/cob_actions/CMakeLists.txt
index 80598cb3..2e56a260 100644
--- a/cob_actions/CMakeLists.txt
+++ b/cob_actions/CMakeLists.txt
@@ -19,7 +19,6 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(action_msgs REQUIRED)
-find_package(actionlib_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 
 set(action_files
@@ -32,7 +31,7 @@ set(action_files
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${action_files}
-  DEPENDENCIES builtin_interfaces action_msgs actionlib_msgs geometry_msgs
+  DEPENDENCIES builtin_interfaces action_msgs geometry_msgs
   ADD_LINTER_TESTS
 )
 
diff --git a/cob_actions/package.xml b/cob_actions/package.xml
index f8e04f3d..3a37da44 100644
--- a/cob_actions/package.xml
+++ b/cob_actions/package.xml
@@ -17,7 +17,6 @@
 
   <depend>builtin_interfaces</depend>
   <depend>action_msgs</depend>
-  <depend>actionlib_msgs</depend>
   <depend>geometry_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>