diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8515781..cfb8a22 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -54,7 +54,6 @@ else()
     robot_nav_msgs
     robot_std_msgs
     robot_geometry_msgs
-    tf3
     robot_tf3_geometry_msgs
     robot_time
     data_convert
@@ -64,10 +63,12 @@ else()
     robot_cpp
   )
 
+  find_library(TF3_LIBRARY NAMES tf3)
+  
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME}
-    CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_std_msgs robot_geometry_msgs tf3 robot_tf3_geometry_msgs robot_time data_convert robot_costmap_2d robot_nav_core robot_protocol_msgs robot_cpp
+    CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_std_msgs robot_geometry_msgs robot_tf3_geometry_msgs robot_time data_convert robot_costmap_2d robot_nav_core robot_protocol_msgs robot_cpp
     DEPENDS Eigen3 Boost
   )
 
diff --git a/package.xml b/package.xml
index e29ff1a..801546d 100644
--- a/package.xml
+++ b/package.xml
@@ -34,9 +34,6 @@
   <build_depend>robot_std_msgs</build_depend>
   <run_depend>robot_std_msgs</run_depend>
 
-  <build_depend>tf3</build_depend>
-  <run_depend>tf3</run_depend>
-
   <build_depend>robot_tf3_geometry_msgs</build_depend>
   <run_depend>robot_tf3_geometry_msgs</run_depend>