diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0ff4bbc..a3f9f81 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,11 +23,9 @@ project(micro_ros_agent)
 
 # Find packages depencences
 find_package(ament_cmake REQUIRED)
-
 find_package(fastcdr REQUIRED CONFIG)
 find_package(fastrtps REQUIRED CONFIG)
 find_package(micrortps_agent REQUIRED CONFIG)
-
 find_package(ament_cmake_python REQUIRED)
 
 
@@ -36,27 +34,16 @@ ament_export_dependencies(fastcdr)
 ament_export_dependencies(fastrtps)
 ament_export_dependencies(micrortps_agent)
 
-ament_export_dependencies(rosidl_cmake)
-ament_export_dependencies(rosidl_generator_c)
-ament_export_dependencies(rosidl_generator_dds_idl)
-
-
-#ament_export_include_directories(include)
 
 # Install python files
 ament_python_install_package(${PROJECT_NAME})
 
 
+# Register package resource in order to be called when a new msg package is generated
 ament_index_register_resource("rosidl_typesupport_c")
 
 
-# Install the package.xml file, and generate code for
-# ``find_package`` so that other packages can get information about
-# this package.
-#
-# :param CONFIG_EXTRAS: a list of CMake files containing extra stuff
-#   that should be accessible to users of this package after
-#   ``find_package``\ -ing it.
+# Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
 ament_package(
   CONFIG_EXTRAS "micro_ros_agent-extras.cmake.in"
 )
diff --git a/package.xml b/package.xml
index 87d8f9b..461ed8a 100644
--- a/package.xml
+++ b/package.xml
@@ -8,36 +8,19 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_generator_c</buildtool_depend>
-  <buildtool_depend>rosidl_generator_dds_idl</buildtool_depend>
-
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
-  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
-  <buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
-  <buildtool_export_depend>rosidl_generator_dds_idl</buildtool_export_depend> 
-
-  <build_export_depend>rmw</build_export_depend>
 
   <exec_depend>rosidl_parser</exec_depend>
-  <exec_depend>rosidl_typesupport_interface</exec_depend>
 
   <depend>fastcdr</depend>
   <depend>fastrtps</depend>
   <depend>micrortps_agent</depend>
 
-
-
-  <exec_depend>rosidl_parser</exec_depend>
-  <exec_depend>rosidl_typesupport_interface</exec_depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
   <member_of_group>rosidl_typesupport_c_packages</member_of_group>
 
-
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>