diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
index 192c61b2f8..8ce41a5edc 100644
--- a/cmake/depthaiDependencies.cmake
+++ b/cmake/depthaiDependencies.cmake
@@ -68,9 +68,6 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
         find_package(basalt_sdk ${_QUIET} CONFIG REQUIRED)
     endif()
     if(DEPTHAI_RTABMAP_SUPPORT)
-        find_package(g2o ${_QUIET} CONFIG REQUIRED)
-        find_package(Ceres ${_QUIET} CONFIG REQUIRED)
-        find_package(PCL CONFIG COMPONENTS common)
         find_package(RTABMap ${_QUIET} CONFIG REQUIRED COMPONENTS core utilite)
     endif()
 
diff --git a/cmake/depthaiVcpkgFeatures.cmake b/cmake/depthaiVcpkgFeatures.cmake
index 7ccff88846..6686738b34 100644
--- a/cmake/depthaiVcpkgFeatures.cmake
+++ b/cmake/depthaiVcpkgFeatures.cmake
@@ -6,7 +6,7 @@ if(NOT DEPTHAI_VCPKG_INTERNAL_ONLY)
     list(APPEND VCPKG_MANIFEST_FEATURES "public-deps")
 endif()
 
-if(DEPTHAI_RTABMAP_SUPPORT)
+if(DEPTHAI_RTABMAP_SUPPORT AND NOT DEPTHAI_VCPKG_INTERNAL_ONLY)
     list(APPEND VCPKG_MANIFEST_FEATURES "rtabmap")
 endif()
 
diff --git a/cmake/ports/websocketpp/vcpkg.json b/cmake/ports/websocketpp/vcpkg.json
index 4bb358f373..b936f9c9f6 100644
--- a/cmake/ports/websocketpp/vcpkg.json
+++ b/cmake/ports/websocketpp/vcpkg.json
@@ -12,7 +12,6 @@
     "recommended": {
       "description": "Use recommended dependencies",
       "dependencies": [
-        "boost-asio",
         "openssl",
         "zlib"
       ]
diff --git a/package.xml b/package.xml
index 1f1f8ecafb..df7799b72c 100644
--- a/package.xml
+++ b/package.xml
@@ -22,6 +22,7 @@
     <depend>zip</depend>
     <depend>tar</depend>
     <depend>unzip</depend>
+    <depend>rtabmap</depend>
 
     <buildtool_depend>ament_cmake</buildtool_depend>