diff --git a/CMakeLists.txt b/CMakeLists.txt
index c983e76..5f3e74d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -173,8 +173,6 @@ if(BUILD_TESTING)
   find_package(ament_cmake_cppcheck REQUIRED)
   find_package(ament_cmake_cpplint REQUIRED)
   find_package(ament_cmake_uncrustify REQUIRED)
-  find_package(ament_cmake_xmllint REQUIRED)
-
   # Enforce ROS2 style
   ament_cpplint()
   ament_cppcheck(
@@ -182,7 +180,6 @@ if(BUILD_TESTING)
     INCLUDE_DIRS include
   )
   ament_uncrustify()
-  ament_xmllint()
 
   find_package(ament_cmake_gtest REQUIRED)
   # Test median filter
diff --git a/package.xml b/package.xml
index b3e8de3..4d9a5e1 100644
--- a/package.xml
+++ b/package.xml
@@ -22,7 +22,6 @@
   <test_depend>ament_cmake_cppcheck</test_depend>
   <test_depend>ament_cmake_cpplint</test_depend>
   <test_depend>ament_cmake_uncrustify</test_depend>
-  <test_depend>ament_cmake_xmllint</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>