diff --git a/gpio_controllers/CMakeLists.txt b/gpio_controllers/CMakeLists.txt
index 52dd87ebf9..61ec55d75f 100644
--- a/gpio_controllers/CMakeLists.txt
+++ b/gpio_controllers/CMakeLists.txt
@@ -20,7 +20,6 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(realtime_tools REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(generate_parameter_library REQUIRED)
-find_package(urdf REQUIRED)
 
 
 generate_parameter_library(gpio_command_controller_parameters
@@ -42,7 +41,6 @@ ament_target_dependencies(gpio_controllers PUBLIC
   rcutils
   realtime_tools
   std_msgs
-  urdf
 )
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
diff --git a/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp b/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
index 26eb24d774..ad80cf4457 100644
--- a/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
+++ b/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
@@ -28,7 +28,6 @@
 #include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
-#include "urdf/model.hpp"
 
 namespace gpio_controllers
 {
@@ -108,7 +107,6 @@ class GpioCommandController : public controller_interface::ControllerInterface
 
   std::shared_ptr<gpio_command_controller_parameters::ParamListener> param_listener_{};
   gpio_command_controller_parameters::Params params_;
-  urdf::Model model_;
 };
 
 }  // namespace gpio_controllers