diff --git a/.catkin_lint b/.catkin_lint
deleted file mode 100644
index 2ff36b8..0000000
--- a/.catkin_lint
+++ /dev/null
@@ -1,2 +0,0 @@
-[urdf_tactile]
-unknown_package = ignore
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 79a43f3..ac09e8f 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -33,8 +33,6 @@ jobs:
       CACHE_PREFIX: ${{ matrix.distro }}
       ROS_DISTRO: ${{ matrix.distro }}
       UPSTREAM_WORKSPACE: rosinstall
-      ROSDEP_SKIP_KEYS: tinyxml_vendor console_bridge_vendor  # *_vendor packages are ROS2 specific
-      CATKIN_LINT_ARGS: --config src/tactile_toolbox/.catkin_lint
 
     name: "${{ matrix.distro }}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' • clang-tidy (delta)' || ' • clang-tidy (all)') || '' }}"
     runs-on: ubuntu-latest
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 1e2aded..30520a2 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -49,7 +49,7 @@ repos:
         name: catkin_lint
         description: Check package.xml and cmake files
         entry: catkin_lint
-        args: [ "--config", ".catkin_lint", "." ]
+        args: [ "." ]
         language: system
         always_run: true
         pass_filenames: false
diff --git a/README.md b/README.md
index 624563f..56d1a90 100644
--- a/README.md
+++ b/README.md
@@ -8,7 +8,7 @@ This software package adds tactile messages, a tactile sensor description to URD
   * `tactile_bias`: Re-publish [TactileState msgs](tactile_msgs/msg/TactileState.msg) allowing to reset tactile bias on demand (tare)
 * [tactile_calibration](tactile_calibration)
   * `tactile_state_calibrator`: maps raw tactile values to calibrated ones
-* [urdf_tactile](urdf_tactile/README.md): extension to URDF to describe tactile sensors, requires modified [`urdf`](https://github.com/ubi-agni/urdf) and [`urdfdom`](https://github.com/ubi-agni/urdfdom) packages.
+* [urdf_tactile](urdf_tactile/README.md): URDF parser to read tactile `<sensor>` tags
 * [tactile_merger](tactile_merger): Map [`tactile_msgs/TactileState`](tactile_msgs/msg/TactileState.msg) onto [`tactile_msgs/TactileContacts`](tactile_msgs/msg/TactileContacts.msg), i.e. contact position, force, and normal, merging contact data of all taxels per link into a single wrench vector
 * [tactile_pcl](tactile_pcl): Compute and publish Tactile Point Cloud data from [`tactile_msgs/TactileContacts`](tactile_msgs/msg/TactileState.msg).
 * [rviz_tactile_plugins](rviz_tactile_plugins): rviz visualization tools for [raw tactile data](tactile_msgs/msg/TactileState.msg) and [contact information](tactile_msgs/msg/TactileContacts.msg).
diff --git a/rosinstall b/rosinstall
index 75113ab..5ea5cce 100644
--- a/rosinstall
+++ b/rosinstall
@@ -1,5 +1 @@
-# As tactile-toolbox relies on new, not yet released urdf features, we need to pull in those for travis testing
-- git: {local-name: urdfdom_headers, uri: 'https://github.com/ubi-agni/urdfdom_headers', version: ros-sensor-refactoring}
-- git: {local-name: urdfdom, uri: 'https://github.com/ubi-agni/urdfdom', version: sensor-refactoring}
-- git: {local-name: urdf, uri: 'https://github.com/ubi-agni/urdf', version: sensor-parsing}
 - git: {local-name: tactile_filters, uri: 'https://github.com/ubi-agni/tactile_filters', version: master}
diff --git a/urdf_tactile/package.xml b/urdf_tactile/package.xml
index 2389073..7909b22 100644
--- a/urdf_tactile/package.xml
+++ b/urdf_tactile/package.xml
@@ -12,7 +12,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>cmake_modules</build_depend>
-  <depend>urdfdom</depend>
+  <depend>liburdfdom-dev</depend>
   <depend>roscpp</depend>
 
   <!-- The export tag contains other, unspecified, tags -->