diff --git a/ros/CMakeLists.txt b/ros/CMakeLists.txt
index 19a6c21a..81eacf70 100644
--- a/ros/CMakeLists.txt
+++ b/ros/CMakeLists.txt
@@ -52,8 +52,7 @@ if("$ENV{ROS_VERSION}" STREQUAL "1")
                rosbag
                std_msgs
                tf2
-               tf2_ros
-               Sophus)
+               tf2_ros)
   catkin_package()
 
   # ROS 1 node
@@ -73,7 +72,6 @@ elseif("$ENV{ROS_VERSION}" STREQUAL "2")
   find_package(rclcpp_components REQUIRED)
   find_package(sensor_msgs REQUIRED)
   find_package(tf2_ros REQUIRED)
-  find_package(sophus REQUIRED)
 
   # ROS 2 node
   add_library(odometry_component SHARED ros2/OdometryServer.cpp)
@@ -88,8 +86,7 @@ elseif("$ENV{ROS_VERSION}" STREQUAL "2")
     nav_msgs
     sensor_msgs
     geometry_msgs
-    tf2_ros
-    Sophus)
+    tf2_ros)
 
   rclcpp_components_register_node(odometry_component PLUGIN "kiss_icp_ros::OdometryServer" EXECUTABLE odometry_node)
 
diff --git a/ros/package.xml b/ros/package.xml
index 1cc74cac..0a444965 100644
--- a/ros/package.xml
+++ b/ros/package.xml
@@ -51,7 +51,6 @@
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>sophus</depend>
 
   <export>
     <build_type condition="$ROS_VERSION == 1">catkin</build_type>