diff --git a/CMakeLists.txt b/CMakeLists.txt
index c9528bda6..c332da6a0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -93,7 +93,6 @@ if ( ament_cmake_FOUND )
     message(STATUS "------------------------------------------")
     include(cmake/ament_build.cmake)
 
-    find_package(tinyxml2_vendor REQUIRED)
     find_package(TinyXML2 REQUIRED)
 else()
     message(STATUS "------------------------------------------")
diff --git a/package.xml b/package.xml
index 956dd1319..5c7a988bb 100644
--- a/package.xml
+++ b/package.xml
@@ -23,7 +23,6 @@
   <depend>libsqlite3-dev</depend>
   <depend>libzmq3-dev</depend>
   <depend>tinyxml2</depend>
-  <depend>tinyxml2_vendor</depend>
 
   <test_depend >ament_cmake_gtest</test_depend>