diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
index 937f1708ce..2bacddf46a 100644
--- a/pid_controller/CMakeLists.txt
+++ b/pid_controller/CMakeLists.txt
@@ -22,7 +22,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface
   generate_parameter_library
   hardware_interface
-  parameter_traits
   pluginlib
   rclcpp
   rclcpp_lifecycle
diff --git a/pid_controller/package.xml b/pid_controller/package.xml
index 40d82cb920..58aa2d5c9b 100644
--- a/pid_controller/package.xml
+++ b/pid_controller/package.xml
@@ -28,7 +28,6 @@
   <depend>control_toolbox</depend>
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
-  <depend>parameter_traits</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>