diff --git a/rtabmap_demos/package.xml b/rtabmap_demos/package.xml
index d65cbfc7..89f236a0 100644
--- a/rtabmap_demos/package.xml
+++ b/rtabmap_demos/package.xml
@@ -17,7 +17,7 @@
   <exec_depend>rtabmap_util</exec_depend>
   <exec_depend>rtabmap_rviz_plugins</exec_depend>
   <exec_depend>rtabmap_viz</exec_depend>
-  <exec_depend>nav2_bringup</exec_depend>
+  <!-- exec_depend>nav2_bringup</exec_depend> Not available on kilted -->
   
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rtabmap_examples/package.xml b/rtabmap_examples/package.xml
index e851d2e3..83aeebaf 100644
--- a/rtabmap_examples/package.xml
+++ b/rtabmap_examples/package.xml
@@ -21,7 +21,7 @@
   <exec_depend>rtabmap_viz</exec_depend>
   <exec_depend>imu_filter_madgwick</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>realsense2_camera</exec_depend>
+  <!-- exec_depend>realsense2_camera</exec_depend> Not available on kilted -->
   <exec_depend>velodyne</exec_depend>
   
   <export>
diff --git a/rtabmap_slam/package.xml b/rtabmap_slam/package.xml
index ed6d9271..dd664af3 100644
--- a/rtabmap_slam/package.xml
+++ b/rtabmap_slam/package.xml
@@ -15,7 +15,7 @@
   <depend>cv_bridge</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
-  <depend>nav2_msgs</depend>
+  <!-- depend>nav2_msgs</depend> Not available on kilted -->
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
diff --git a/rtabmap_util/package.xml b/rtabmap_util/package.xml
index 14a75a52..a79d6642 100644
--- a/rtabmap_util/package.xml
+++ b/rtabmap_util/package.xml
@@ -30,7 +30,7 @@
   <depend>message_filters</depend>
   <depend>rtabmap_msgs</depend>
   <depend>rtabmap_conversions</depend>
-  <depend>grid_map_ros</depend>
+  <!-- depend>grid_map_ros</depend> Not available on kilted -->
 
   <export>
 	<build_type>ament_cmake</build_type>