diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
index afe6ebf5f0..736b2f7edd 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
@@ -60,7 +59,6 @@ target_link_libraries(pid_controller PUBLIC
                       realtime_tools::realtime_tools
                       ${std_srvs_TARGETS}
                       ${control_msgs_TARGETS}
-                      ${parameter_traits_TARGETS}
                       ${std_srvs_TARGETS})
 
 pluginlib_export_plugin_description_file(controller_interface pid_controller.xml)
diff --git a/pid_controller/package.xml b/pid_controller/package.xml
index 2b4c37591e..4197e56d5d 100644
--- a/pid_controller/package.xml
+++ b/pid_controller/package.xml
@@ -29,7 +29,6 @@
   <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>