diff --git a/overlay.nix b/overlay.nix
index 9c85251..9e9957f 100644
--- a/overlay.nix
+++ b/overlay.nix
@@ -9,9 +9,6 @@ self: super: {
   cartesian-force-controller = super.callPackage ../cartesian_controllers/cartesian_force_controller/package.nix {};
   cartesian-motion-controller = super.callPackage ../cartesian_controllers/cartesian_motion_controller/package.nix {};
   cartesian-twist-controller = super.callPackage ../cartesian_controllers/cartesian_twist_controller/package.nix {};
-  dynmsg = super.callPackage ../dynamic_message_introspection/dynmsg/package.nix {};
-  dynmsg-demo = super.callPackage ../dynamic_message_introspection/dynmsg_demo/package.nix {};
-  dynmsg-msgs = super.callPackage ../dynamic_message_introspection/dynmsg_msgs/package.nix {};
   env-manager = super.callPackage ./env_manager/env_manager/package.nix {};
   env-manager-interfaces = super.callPackage ./env_manager/env_manager_interfaces/package.nix {};
   gym-gz-ros-python = super.callPackage ../gym-gz/package.nix {};
@@ -33,5 +30,4 @@ self: super: {
   robonomics = super.callPackage ./robonomics/package.nix {};
   robot-builder = super.callPackage ../robot_builder/package.nix {};
   scenario = super.callPackage ../scenario/package.nix {};
-  test-dynmsg = super.callPackage ../dynamic_message_introspection/test_dynmsg/package.nix {};
 }
diff --git a/rbs_utils/rbs_utils/CMakeLists.txt b/rbs_utils/rbs_utils/CMakeLists.txt
index 92f9442..42de0f7 100644
--- a/rbs_utils/rbs_utils/CMakeLists.txt
+++ b/rbs_utils/rbs_utils/CMakeLists.txt
@@ -16,7 +16,6 @@ find_package(geometry_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(rbs_utils_interfaces REQUIRED)
-find_package(dynmsg REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(rosbag2_cpp REQUIRED)
 find_package(nlohmann_json REQUIRED)
@@ -30,12 +29,9 @@ set(deps
   geometry_msgs
   sensor_msgs
   rbs_utils_interfaces
-  dynmsg
   rosbag2_cpp
 )
 
-add_library(${PROJECT_NAME} SHARED src/rbs_utils.cpp)
-
 ament_python_install_package(${PROJECT_NAME})
 
 install(PROGRAMS
@@ -54,8 +50,6 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_target_dependencies(${PROJECT_NAME} PUBLIC ${deps})
-
 # target_include_directories(asm_folder_process
 #   PUBLIC
 #   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
@@ -64,19 +58,6 @@ ament_target_dependencies(${PROJECT_NAME} PUBLIC ${deps})
 add_executable(bagfile_recorder src/bagfile_recorder.cpp)
 ament_target_dependencies(bagfile_recorder ${deps})
 
-target_include_directories(${PROJECT_NAME}
-  PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/>")
-
-install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT export_${PROJECT_NAME}
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib
-  RUNTIME DESTINATION bin
-)
-
 install(
   TARGETS bagfile_recorder
   DESTINATION lib/${PROJECT_NAME}
@@ -96,8 +77,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(
- ${deps} 
-)
 ament_package()
diff --git a/rbs_utils/rbs_utils/include/rbs_utils/rbs_utils.hpp b/rbs_utils/rbs_utils/include/rbs_utils/rbs_utils.hpp
deleted file mode 100644
index a8e0fc2..0000000
--- a/rbs_utils/rbs_utils/include/rbs_utils/rbs_utils.hpp
+++ /dev/null
@@ -1,102 +0,0 @@
-#include "dynmsg/message_reading.hpp"
-#include "dynmsg/msg_parser.hpp"
-#include "dynmsg/typesupport.hpp"
-#include "dynmsg/yaml_utils.hpp"
-#include "geometry_msgs/msg/pose.hpp"
-#include "geometry_msgs/msg/pose_array.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_lifecycle/lifecycle_node.hpp"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2_msgs/msg/tf_message.hpp"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/static_transform_broadcaster.h"
-#include <Eigen/Core>
-#include <fstream>
-#include <geometry_msgs/msg/detail/pose__struct.hpp>
-#include <geometry_msgs/msg/detail/pose_array__struct.hpp>
-#include <rbs_utils_interfaces/msg/detail/assembly_config__struct.hpp>
-#include <rclcpp/clock.hpp>
-#include <rclcpp/logger.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/node_interfaces/node_clock_interface.hpp>
-#include <tf2/convert.h>
-#include <tf2_eigen/tf2_eigen.hpp>
-#include <tf2_msgs/msg/detail/tf_message__struct.hpp>
-#include <unordered_map>
-
-const std::string env_dir = std::getenv("RBS_ASSEMBLY_DIR");
-
-namespace rbs_utils {
-
-struct EnvModel {
-  std::string model_name;
-  std::string mesh_path;
-  std::vector<double> model_inertia;
-  std::vector<double> model_pose;
-  double mass;
-};
-
-class AssemblyConfigLoader {
-public:
-  template <typename NodePtr>
-  explicit AssemblyConfigLoader(const std::string &t_assembly_dir,
-                                const NodePtr &t_node)
-      : AssemblyConfigLoader(t_assembly_dir,
-                             t_node->get_node_logging_interface(),
-                             t_node->get_node_clock_interface()) {}
-
-  explicit AssemblyConfigLoader(
-      const std::string &t_assembly_dir,
-      const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
-          &t_logger_node_interface,
-      const rclcpp::node_interfaces::NodeClockInterface::SharedPtr
-          &t_clock_node_interface);
-
-  tf2_msgs::msg::TFMessage getAllPossibleTfData();
-  tf2_msgs::msg::TFMessage getTfData(const std::string &model_name);
-  tf2_msgs::msg::TFMessage getGraspTfData(const std::string &model_name);
-
-  std::vector<std::string> getUniqueSceneModelNames();
-
-  void printWorkspace();
-  geometry_msgs::msg::PoseArray getWorkspaceInspectorTrajectory();
-  geometry_msgs::msg::Pose
-  transformTrajectory(const geometry_msgs::msg::Pose &pose);
-  void saveRbsConfig();
-  tf2_msgs::msg::TFMessage getAdditionalPoses();
-
-private:
-  std::vector<std::string> m_env_files;
-  std::vector<std::ifstream> m_env_paths;
-  std::string m_assembly_dir;
-  std::unique_ptr<tf2_ros::Buffer> m_tf_buffer;
-  rbs_utils_interfaces::msg::AssemblyConfig m_assembly_config;
-  rclcpp::Logger m_logger;
-  rclcpp::Clock::SharedPtr m_clock;
-  void parseRbsDb(const std::string &filepath);
-
-  geometry_msgs::msg::PoseArray getWorkspace();
-  geometry_msgs::msg::Transform
-  createTransform(const geometry_msgs::msg::Pose &pose);
-};
-
-class StaticFramePublisher : public rclcpp::Node {
-public:
-  explicit StaticFramePublisher(const tf2_msgs::msg::TFMessage &tfs)
-      : Node("rbs_static_tf") {
-    m_tf_static_broadcaster =
-        std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);
-
-    this->make_transforms(tfs);
-  }
-
-private:
-  void make_transforms(const tf2_msgs::msg::TFMessage &tfs) {
-    for (const auto &transform : tfs.transforms) {
-      m_tf_static_broadcaster->sendTransform(transform);
-    }
-  }
-
-  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> m_tf_static_broadcaster;
-};
-} // namespace rbs_utils
diff --git a/rbs_utils/rbs_utils/package.nix b/rbs_utils/rbs_utils/package.nix
index 0da886f..6ce88e1 100644
--- a/rbs_utils/rbs_utils/package.nix
+++ b/rbs_utils/rbs_utils/package.nix
@@ -3,7 +3,7 @@
 # Copyright 2025 None
 # Distributed under the terms of the Apache-2.0 license
 
-{ lib, buildRosPackage, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, dynmsg-msgs, geometry-msgs, nlohmann_json, rbs-utils-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rosbag2-cpp, rosidl-default-generators, rviz-visual-tools, sensor-msgs, std-msgs, tf2-eigen, tf2-ros }:
+{ lib, buildRosPackage, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, nlohmann_json, rbs-utils-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rosbag2-cpp, rosidl-default-generators, rviz-visual-tools, sensor-msgs, std-msgs, tf2-eigen, tf2-ros }:
 buildRosPackage rec {
   pname = "ros-jazzy-rbs-utils";
   version = "0.0.0";
@@ -13,7 +13,7 @@ buildRosPackage rec {
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ dynmsg dynmsg-msgs geometry-msgs nlohmann_json rbs-utils-interfaces rclcpp rclcpp-lifecycle rclpy rosbag2-cpp rosidl-default-generators rviz-visual-tools sensor-msgs std-msgs tf2-eigen tf2-ros ];
+  propagatedBuildInputs = [ geometry-msgs nlohmann_json rbs-utils-interfaces rclcpp rclcpp-lifecycle rclpy rosbag2-cpp rosidl-default-generators rviz-visual-tools sensor-msgs std-msgs tf2-eigen tf2-ros ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/rbs_utils/rbs_utils/package.xml b/rbs_utils/rbs_utils/package.xml
index a01b979..7a1e0da 100644
--- a/rbs_utils/rbs_utils/package.xml
+++ b/rbs_utils/rbs_utils/package.xml
@@ -9,9 +9,6 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>dynmsg</build_depend>
-  <build_depend>dynmsg_msgs</build_depend>
-
   <depend>rclpy</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
diff --git a/rbs_utils/rbs_utils/src/rbs_utils.cpp b/rbs_utils/rbs_utils/src/rbs_utils.cpp
deleted file mode 100644
index 5d84828..0000000
--- a/rbs_utils/rbs_utils/src/rbs_utils.cpp
+++ /dev/null
@@ -1,297 +0,0 @@
-#include "rbs_utils/rbs_utils.hpp"
-#include <Eigen/src/Geometry/Transform.h>
-#include <dynmsg/typesupport.hpp>
-#include <fstream>
-#include <geometry_msgs/msg/detail/pose__struct.hpp>
-#include <geometry_msgs/msg/detail/transform_stamped__struct.hpp>
-#include <rbs_utils_interfaces/msg/detail/assembly_config__struct.hpp>
-#include <rbs_utils_interfaces/msg/detail/assembly_config__traits.hpp>
-#include <rclcpp/logging.hpp>
-#include <rclcpp/node_interfaces/node_clock_interface.hpp>
-#include <string>
-#include <strstream>
-#include <tf2/LinearMath/Transform.h>
-#include <tf2/convert.h>
-#include <tf2_eigen/tf2_eigen.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tf2_msgs/msg/detail/tf_message__struct.hpp>
-#include <tf2_ros/buffer_interface.h>
-#include <yaml-cpp/emitter.h>
-#include <yaml-cpp/node/parse.h>
-
-namespace rbs_utils {
-AssemblyConfigLoader::AssemblyConfigLoader(
-    const std::string &t_assembly_dir,
-    const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
-        &t_logging_interface,
-    const rclcpp::node_interfaces::NodeClockInterface::SharedPtr
-        &t_clock_interface)
-    : m_assembly_dir(t_assembly_dir),
-      m_logger(t_logging_interface->get_logger()),
-      m_clock(t_clock_interface->get_clock()) {
-  if (!m_assembly_dir.empty()) {
-    std::vector<std::string> filenames = {"rbs_db"};
-    for (auto &filename : filenames) {
-      std::string filepath =
-          env_dir + "/" + m_assembly_dir + "/" + filename + ".yaml";
-
-      m_env_files.push_back(filepath);
-      parseRbsDb(filepath);
-    }
-  } else {
-    RCLCPP_ERROR(m_logger, "Assembly dir is not set");
-  }
-}
-
-void AssemblyConfigLoader::parseRbsDb(const std::string &filepath) {
-  try {
-    YAML::Node asm_config = YAML::LoadFile(filepath);
-    std::string asm_config_string = dynmsg::yaml_to_string(asm_config);
-
-    RosMessage_Cpp rosmsg;
-    InterfaceTypeName interface{"rbs_utils_interfaces", "AssemblyConfig"};
-    rosmsg.type_info = dynmsg::cpp::get_type_info(interface);
-
-    void *ros_msg = reinterpret_cast<void *>(&m_assembly_config);
-    dynmsg::cpp::yaml_and_typeinfo_to_rosmsg(rosmsg.type_info,
-                                             asm_config_string, ros_msg);
-
-  } catch (const std::exception &e) {
-    RCLCPP_ERROR(m_logger, "Exception reading file %s: %s", filepath.c_str(),
-                 e.what());
-  }
-}
-
-[[deprecated("Not Implemented")]] void AssemblyConfigLoader::saveRbsConfig() {}
-
-std::vector<std::string> AssemblyConfigLoader::getUniqueSceneModelNames() {
-  std::vector<std::string> model_names;
-  if (m_assembly_config.relative_part.size() != 0) {
-    for (auto &t : m_assembly_config.relative_part) {
-      model_names.push_back(t.name);
-    }
-  } else {
-    return model_names;
-  }
-  // Sort and remove duplicates
-  std::sort(model_names.begin(), model_names.end());
-  model_names.erase(std::unique(model_names.begin(), model_names.end()),
-                    model_names.end());
-
-  return model_names;
-}
-
-tf2_msgs::msg::TFMessage AssemblyConfigLoader::getAllPossibleTfData() {
-  tf2_msgs::msg::TFMessage tp;
-  // Get absolute parts
-  for (auto &abs_poses : m_assembly_config.absolute_part) {
-    geometry_msgs::msg::TransformStamped tmp;
-    tmp.transform = createTransform(abs_poses.pose);
-    tmp.child_frame_id = abs_poses.name;
-    tmp.header.frame_id = "world";
-    tmp.header.stamp = m_clock->now();
-    tp.transforms.push_back(tmp);
-  }
-  // Get relative parts
-  for (const auto &relative_part : m_assembly_config.relative_part) {
-    geometry_msgs::msg::TransformStamped tmp;
-    tmp.transform = createTransform(relative_part.pose);
-    tmp.child_frame_id = relative_part.name;
-    tmp.header.frame_id = relative_part.relative_at;
-    tmp.header.stamp = m_clock->now();
-    tp.transforms.push_back(tmp);
-    RCLCPP_INFO(m_logger, "Model name [%s]", relative_part.name.c_str());
-  }
-  // Get grasp poses
-  for (const auto &grasp_pose : m_assembly_config.grasp_poses) {
-    geometry_msgs::msg::TransformStamped tmp;
-    tmp.transform = createTransform(grasp_pose.pose);
-    tmp.child_frame_id = grasp_pose.name;
-    tmp.header.frame_id = grasp_pose.relative_at;
-    tmp.header.stamp = m_clock->now();
-    tp.transforms.push_back(tmp);
-  }
-
-  return tp;
-}
-
-tf2_msgs::msg::TFMessage
-AssemblyConfigLoader::getGraspTfData(const std::string &model_name) {
-  tf2_msgs::msg::TFMessage tp;
-
-  bool found_grasp_pose = false;
-  if (!m_assembly_config.relative_part.empty()) {
-    for (auto &abs_poses : m_assembly_config.absolute_part) {
-      geometry_msgs::msg::TransformStamped tmp;
-      tmp.transform = createTransform(abs_poses.pose);
-      tmp.child_frame_id = abs_poses.name;
-      tmp.header.frame_id = "world";
-      tmp.header.stamp = m_clock->now();
-      tp.transforms.push_back(tmp);
-    }
-  } else {
-    RCLCPP_ERROR(m_logger, "Relative parts is empty size: %zu",
-                 m_assembly_config.relative_part.size());
-  }
-
-  for (const auto &grasp_pose : m_assembly_config.grasp_poses) {
-    if (grasp_pose.relative_at == model_name) {
-      geometry_msgs::msg::TransformStamped tmp;
-      tmp.transform = createTransform(grasp_pose.pose);
-      tmp.child_frame_id = grasp_pose.name;
-      tmp.header.frame_id = grasp_pose.relative_at;
-      tmp.header.stamp = m_clock->now();
-      tp.transforms.push_back(tmp);
-      found_grasp_pose = true;
-    }
-  }
-
-  if (!found_grasp_pose) {
-    RCLCPP_ERROR(m_logger, "Grasp pose not found for model %s",
-                 model_name.c_str());
-  }
-
-  return tp;
-
-}
-
-tf2_msgs::msg::TFMessage
-AssemblyConfigLoader::getTfData(const std::string &model_name) {
-  tf2_msgs::msg::TFMessage tp;
-
-  if (!m_assembly_config.absolute_part.empty()) {
-    for (auto &abs_part : m_assembly_config.absolute_part) {
-      geometry_msgs::msg::TransformStamped abs_transrorm_stamped;
-      abs_transrorm_stamped.transform = createTransform(abs_part.pose);
-      abs_transrorm_stamped.child_frame_id = abs_part.name;
-      abs_transrorm_stamped.header.frame_id = "world";
-      abs_transrorm_stamped.header.stamp = m_clock->now();
-      tp.transforms.push_back(abs_transrorm_stamped);
-    }
-  } else {
-    RCLCPP_ERROR(m_logger, "Absolute parts is empty size: %zu",
-                 m_assembly_config.absolute_part.size());
-  }
-
-  bool found_model = false;
-  bool found_grasp_pose = false;
-  if (!m_assembly_config.relative_part.empty()) {
-    for (auto &abs_poses : m_assembly_config.absolute_part) {
-      geometry_msgs::msg::TransformStamped tmp;
-      tmp.transform = createTransform(abs_poses.pose);
-      tmp.child_frame_id = abs_poses.name;
-      tmp.header.frame_id = "world";
-      tmp.header.stamp = m_clock->now();
-      tp.transforms.push_back(tmp);
-    }
-
-    for (const auto &relative_part : m_assembly_config.relative_part) {
-      // Find our model data
-      if (relative_part.name == model_name) {
-        geometry_msgs::msg::TransformStamped tmp;
-        tmp.transform = createTransform(relative_part.pose);
-        tmp.child_frame_id = relative_part.name;
-        tmp.header.frame_id = relative_part.relative_at;
-        tmp.header.stamp = m_clock->now();
-        tp.transforms.push_back(tmp);
-        found_model = true;
-      }
-      RCLCPP_INFO(m_logger, "Model name [%s]",
-                  relative_part.relative_at.c_str());
-    }
-  } else {
-    RCLCPP_ERROR(m_logger, "Relative parts is empty size: %zu",
-                 m_assembly_config.relative_part.size());
-  }
-
-  for (const auto &grasp_pose : m_assembly_config.grasp_poses) {
-    if (grasp_pose.relative_at == model_name) {
-      geometry_msgs::msg::TransformStamped tmp;
-      tmp.transform = createTransform(grasp_pose.pose);
-      tmp.child_frame_id = grasp_pose.name;
-      tmp.header.frame_id = grasp_pose.relative_at;
-      tmp.header.stamp = m_clock->now();
-      tp.transforms.push_back(tmp);
-      found_grasp_pose = true;
-    }
-  }
-
-  if (!found_model) {
-    RCLCPP_ERROR(m_logger, "Model %s not found in config", model_name.c_str());
-  }
-  if (!found_grasp_pose) {
-    RCLCPP_ERROR(m_logger, "Grasp pose not found for model %s",
-                 model_name.c_str());
-  }
-
-  return tp;
-}
-
-geometry_msgs::msg::Transform
-AssemblyConfigLoader::createTransform(const geometry_msgs::msg::Pose &pose) {
-  geometry_msgs::msg::Transform transform;
-  transform.translation.x = pose.position.x;
-  transform.translation.y = pose.position.y;
-  transform.translation.z = pose.position.z;
-  transform.rotation.x = pose.orientation.x;
-  transform.rotation.y = pose.orientation.y;
-  transform.rotation.z = pose.orientation.z;
-  transform.rotation.w = pose.orientation.w;
-  return transform;
-}
-
-geometry_msgs::msg::PoseArray AssemblyConfigLoader::getWorkspace() {
-  geometry_msgs::msg::PoseArray pose_array;
-  pose_array.header.frame_id = "world";
-
-  if (m_assembly_config.workspace.empty()) {
-    RCLCPP_WARN(m_logger, "Workspace is empty, check your robossembler_db");
-    return pose_array;
-  }
-
-  pose_array.poses.reserve(m_assembly_config.workspace.size());
-
-  const double default_rotation_value = 0.0;
-  const double default_rotation_w = 1.0;
-
-  for (const auto &point : m_assembly_config.workspace) {
-    geometry_msgs::msg::Pose pose;
-    pose.position.x = point.x;
-    pose.position.y = point.y;
-    pose.position.z = point.z;
-    pose.orientation.x = default_rotation_value;
-    pose.orientation.y = default_rotation_value;
-    pose.orientation.z = default_rotation_value;
-    pose.orientation.w = default_rotation_w;
-    pose_array.poses.push_back(pose);
-  }
-
-  return pose_array;
-}
-
-geometry_msgs::msg::PoseArray
-AssemblyConfigLoader::getWorkspaceInspectorTrajectory() {
-  geometry_msgs::msg::PoseArray pose_array;
-  pose_array.header.frame_id = "world";
-
-  auto workspace_poses = getWorkspace();
-
-  for (const auto &pose : workspace_poses.poses) {
-    pose_array.poses.push_back(transformTrajectory(pose));
-  }
-
-  return pose_array;
-}
-
-geometry_msgs::msg::Pose AssemblyConfigLoader::transformTrajectory(
-    const geometry_msgs::msg::Pose &pose) {
-  Eigen::Isometry3d pose_eigen;
-  tf2::fromMsg(pose, pose_eigen);
-
-  Eigen::AngleAxisd rotation(M_PI, Eigen::Vector3d::UnitY());
-  pose_eigen.rotate(rotation);
-  pose_eigen.translation().z() += 0.35;
-  return tf2::toMsg(pose_eigen);
-}
-
-} // namespace rbs_utils
diff --git a/repos/all-deps.repos b/repos/all-deps.repos
index 6dde101..06aee04 100644
--- a/repos/all-deps.repos
+++ b/repos/all-deps.repos
@@ -7,18 +7,10 @@ repositories:
     type: git
     url: https://github.com/solid-sinusoid/robot-builder.git
     version: main
-  rbs_gripper:
-    type: git
-    url: https://github.com/solid-sinusoid/rbs-gripper.git
-    version: main
   behavior_tree:
     type: git
     url: https://github.com/BehaviorTree/BehaviorTree.ROS2.git
     version: humble
-  dynamic_message_introspection:
-    type: git
-    url: https://github.com/osrf/dynamic_message_introspection.git
-    version: main
   robot_builder:
     type: git
     url: https://github.com/solid-sinusoid/robot-builder.git
@@ -27,11 +19,3 @@ repositories:
     type: git
     url: https://github.com/solid-sinusoid/cartesian_controllers.git
     version: gazebo-simulation
-  ros2_control:
-    type: git
-    url: https://github.com/solid-sinusoid/ros2_control.git
-    version: gz-ros2-cartesian-controllers
-  gz_ros2_control:
-    type: git
-    url: https://github.com/solid-sinusoid/gz_ros2_control.git
-    version: fts-sensor