diff --git a/CMakeLists.txt b/CMakeLists.txt
index aa7b344..9f09f94 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,6 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 
-find_package(angles REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
@@ -18,7 +17,6 @@ find_package(Eigen3 REQUIRED)
 # catkin_python_setup()
 
 include_directories(include
-    ${angles_INCLUDE_DIRS}
     ${rclcpp_INCLUDE_DIRS}
     ${sensor_msgs_INCLUDE_DIRS}
     ${tf2_INCLUDE_DIRS}
@@ -27,7 +25,6 @@ include_directories(include
 
 add_library(laser_geometry src/laser_geometry.cpp)
 target_link_libraries(laser_geometry
-    ${angles_LIBRARIES}
     ${rclcpp_LIBRARIES}
     ${sensor_msgs_LIBRARIES}
     ${tf2_LIBRARIES}
diff --git a/package.xml b/package.xml
index fe0ecf5..bdae81f 100644
--- a/package.xml
+++ b/package.xml
@@ -20,13 +20,11 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>angles</build_depend>
   <build_depend>Eigen3</build_depend>
   <build_depend>rclcpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>tf2</build_depend>
 
-  <exec_depend>angles</exec_depend>
   <exec_depend>Eigen3</exec_depend>
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>