diff --git a/rtabmap_lib/Makefile b/rtabmap_lib/Makefile
deleted file mode 100644
index 41e2a487..00000000
--- a/rtabmap_lib/Makefile
+++ /dev/null
@@ -1,28 +0,0 @@
-# avpd rev. HEAD
-INSTALL_DIR = rtabmap
-
-all: installed
-
-SVN_DIR = build/rtabmap-svn
-SVN_URL = https://rtabmap.googlecode.com/svn/branches/pcl_integration/rtabmap
-SVN_REVISION = -rHEAD
-#SVN_PATCH = opencvVer.patch
-include $(shell rospack find mk)/svn_checkout.mk
-
-CMAKE = cmake 
-CMAKE_ARGS = -D CMAKE_BUILD_TYPE=RELEASE \
-             -D BUILD_LIBS_ONLY=ON \
-             -D ROS_BUILD=ON \
-             -D CMAKE_INSTALL_PREFIX=`rospack find rtabmap_lib`/$(INSTALL_DIR)
-
-installed: $(SVN_DIR) patched
-	mkdir -p $(SVN_DIR)/build
-	cd $(SVN_DIR)/build && $(CMAKE) $(CMAKE_ARGS) ..
-	cd $(SVN_DIR)/build && make $(ROS_PARALLEL_JOBS) && make install
-	touch Makefile
-
-clean:
-	-cd $(SVN_DIR)/build && make clean
-	rm -rf $(INSTALL_DIR) installed
-
-.PHONY : clean download
diff --git a/rtabmap_lib/manifest.xml b/rtabmap_lib/manifest.xml
deleted file mode 100644
index fc73a178..00000000
--- a/rtabmap_lib/manifest.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<package>
-  <description brief="rtabmap_lib">
-
-     RTAB-Map library
-
-  </description>
-  <author>Mathieu Labbe</author>
-  <license>GPL</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://rtabmap.googlecode.com</url>
-  <export>
-    <cpp cflags="-I${prefix}/rtabmap/include" lflags="-L${prefix}/rtabmap/lib -Wl,-rpath, -lrtabmap_core -lrtabmap_utilite"/>
-  </export>
-  <versioncontrol type="svn" url="http://rtabmap.googlecode.com/svn/trunk/rtabmap"/>
-  
-  <depend package="std_msgs"/>
-  <depend package="roscpp"/>
-  <depend package="cv_bridge"/>
-  <depend package="sensor_msgs"/>
-  <depend package="std_srvs"/>
-  
-  <rosdep name="libqt4-dev"/>
-  <rosdep name="sqlite3"/>
-  <rosdep name="libsqlite3-dev"/>
-
-</package>
-
-
diff --git a/rtabmap_lib/patched b/rtabmap_lib/patched
deleted file mode 100644
index e69de29b..00000000
diff --git a/rtabmap_lib/rospack_nosubdirs b/rtabmap_lib/rospack_nosubdirs
deleted file mode 100644
index e69de29b..00000000