diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8d5303f..dcc28cc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -134,26 +134,6 @@ if (NOT TARGET pnkx_local_planner)
     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/local_planners/pnkx_local_planner)
 endif()
 
-if (NOT TARGET robot_angles)
-    add_subdirectory(${CMAKE_SOURCE_DIR}/obstacle/angles)
-endif()
-
-if (NOT TARGET grid_map_core)
-    add_subdirectory(${CMAKE_SOURCE_DIR}/obstacle/grid_map_core)
-endif()
-
-if (NOT TARGET robot_base_local_planner)
-    add_subdirectory(${CMAKE_SOURCE_DIR}/obstacle/base_local_planner)
-endif()
-
-if (NOT TARGET hybrid_local_planner)
-    add_subdirectory(${CMAKE_SOURCE_DIR}/obstacle/hybrid_local_planner)
-endif()
-
-if (NOT TARGET robot_actionlib_msgs)
-    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Libraries/robot_actionlib_msgs)
-endif()
-
 if (NOT TARGET robot_move_base_msgs)
     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Libraries/robot_move_base_msgs)
 endif()