diff --git a/hand_control/CMakeLists.txt b/hand_control/CMakeLists.txt
index 670ee03..af18b01 100644
--- a/hand_control/CMakeLists.txt
+++ b/hand_control/CMakeLists.txt
@@ -6,9 +6,7 @@ project(hand_control)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   ardrone_autonomy
-  freenect_stack
   pcl_ros
-  perception_pcl
   roscpp
   std_msgs
 )
diff --git a/hand_control/package.xml b/hand_control/package.xml
index c25a37b..e55cb88 100644
--- a/hand_control/package.xml
+++ b/hand_control/package.xml
@@ -20,11 +20,9 @@
   <build_depend>ardrone_autonomy</build_depend>
   <build_depend>freenect_stack</build_depend>
   <build_depend>pcl_ros</build_depend>
-  <build_depend>perception_pcl</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <run_depend>ardrone_autonomy</run_depend>
-  <run_depend>freenect_stack</run_depend>
   <run_depend>pcl_ros</run_depend>
   <run_depend>perception_pcl</run_depend>
   <run_depend>roscpp</run_depend>