diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 2f2956bd..00000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
-# directories (or patterns, but directories should suffice) that should 
-# be excluded from the distro.  This is not the place to put things that
-# should be ignored everywhere, like "build" directories; that happens in
-# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
-# ready for inclusion in a distro.
-#
-# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
-# that CMake 2.6 may be required to ensure that the two lists are combined
-# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
-# variables.
-#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
-
-rosbuild_make_distribution(0.1.0)
diff --git a/Makefile b/Makefile
deleted file mode 100644
index a818ccad..00000000
--- a/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake_stack.mk
\ No newline at end of file
diff --git a/doc/RTAB-Map-LC.png b/doc/RTAB-Map-LC.png
deleted file mode 100644
index b384e67a..00000000
Binary files a/doc/RTAB-Map-LC.png and /dev/null differ
diff --git a/doc/RTAB-Map-SM.png b/doc/RTAB-Map-SM.png
deleted file mode 100644
index 0020b09b..00000000
Binary files a/doc/RTAB-Map-SM.png and /dev/null differ
diff --git a/stack.xml b/stack.xml
deleted file mode 100644
index 7982d8c6..00000000
--- a/stack.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<stack>
-  <description brief="rtabmap">
-
-    RTAB-Map library.
-
-  </description>
-  <author>Mathieu Labbe</author>
-  <license>GPL</license>  
-  <review status="unreviewed" notes=""/>
-  <url>http://rtabmap.googlecode.com</url>
-  <depend stack="common_msgs" /> <!-- sensor_msgs -->
-  <depend stack="ros" />
-  <depend stack="ros_comm" /> <!-- std_msgs, std_srvs, roscpp -->
-  <depend stack="vision_opencv" /> <!-- cv_bridge, opencv2 -->
-</stack>