diff --git a/etc/cmake/Findsick_scan_base.cmake b/etc/cmake/Findsick_scan_base.cmake
deleted file mode 100644
index faef3317d146d5fb44bddda029cf17d85128e3f2..0000000000000000000000000000000000000000
--- a/etc/cmake/Findsick_scan_base.cmake
+++ /dev/null
@@ -1,61 +0,0 @@
-# - Try to find sick_scan_base
-# This module defines the following variables:
-# sick_scan_base_FOUND : 1 if sick_scan_base was found, 0 otherwise
-# sick_scan_base_INCLUDE_DIRS: directory where the headers can be found
-
-include(FindPackageHandleStandardArgs)
-
-
-if (DEFINED ENV{sick_scan_base_DIR})
- if(NOT DEFINED sick_scan_base_DIR)
- set(sick_scan_base_DIR $ENV{sick_scan_base_DIR})
- endif()
-endif()
-
-#if(NOT "$ENV{sick_scan_base_DIR}" EQUAL "")
-# set(sick_scan_base_DIR $ENV{sick_scan_base_DIR} CACHE PATH "Path to sick_scan_base" FORCE)
-#endif()
-
-set(HEADER_SEARCH_PATHS
- ${sick_scan_base_DIR}/include/
- ${sick_scan_base_DIR}/include/sick_scan/
- ${sick_scan_base_DIR}/include/tinyxml/
- ${sick_scan_base_DIR}/roswrap/src/include/
- ${sick_scan_base_DIR}/roswrap/src/rossimu/kinetic/include/
- ${sick_scan_base_DIR}/roswrap/src/cfgsimu/
- ENV CPATH
- /usr/include/
- #/opt/ros/melodic/include/
- #/opt/ros/melodic/include/sick_scan/
-)
-
-#find_path(sick_scan_base_INCLUDE_DIR_7 NAMES sick_scan_common.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-#if(sick_scan_base_INCLUDE_DIR_7)
-# set(sick_scan_base_INCLUDE_DIRS ${sick_scan_base_INCLUDE_DIR_7})
-#endif()
-#find_library(sick_scan_base_LIBRARIES NAMES libsick_scan_lib.so PATHS /opt/ros/melodic/lib/ NO_DEFAULT_PATH)
-
-find_library(sick_scan_base_LIBRARIES NAMES libsick_scan_generic.so PATHS ${sick_scan_base_DIR}/build NO_DEFAULT_PATH)
-message(STATUS "sick_scan_base_LIBRARIES:${sick_scan_base_LIBRARIES}")
-
-find_path(sick_scan_base_INCLUDE_DIR_0 NAMES sick_scan/sick_scan_common_tcp.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_1 NAMES sick_generic_laser.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_2 NAMES tinystr.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_3 NAMES sick_scan/SickScanConfig.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_4 NAMES dynamic_reconfigure/config_tools.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_5 NAMES sick_scan/SickScanConfig.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_6 NAMES sick_scan/rosconsole_simu.hpp PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-
-if(sick_scan_base_INCLUDE_DIR_0 AND sick_scan_base_INCLUDE_DIR_1 AND sick_scan_base_INCLUDE_DIR_2 AND sick_scan_base_INCLUDE_DIR_3 AND sick_scan_base_INCLUDE_DIR_4 AND sick_scan_base_INCLUDE_DIR_5 AND sick_scan_base_INCLUDE_DIR_6)
- set(sick_scan_base_INCLUDE_DIRS ${sick_scan_base_INCLUDE_DIR_0} ${sick_scan_base_INCLUDE_DIR_1} ${sick_scan_base_INCLUDE_DIR_2} ${sick_scan_base_INCLUDE_DIR_3} ${sick_scan_base_INCLUDE_DIR_4} ${sick_scan_base_INCLUDE_DIR_5} ${sick_scan_base_INCLUDE_DIR_6})
-endif()
-
-
-message(STATUS "sick_scan_base_INCLUDE_DIRS:${sick_scan_base_INCLUDE_DIRS}")
-
-find_package_handle_standard_args(sick_scan_base DEFAULT_MSG sick_scan_base_INCLUDE_DIRS sick_scan_base_LIBRARIES)
-
-mark_as_advanced(sick_scan_base_INCLUDE_DIRS sick_scan_base_LIBRARIES)
-
-
-
diff --git a/source/RobotAPI/drivers/SickLaserUnit/CMakeLists.txt b/source/RobotAPI/drivers/SickLaserUnit/CMakeLists.txt
index f1e94f9b2478222809011ad2c150f2b97d0c9e72..001528cc18d893d969f2aa191651c1a39e3040a6 100644
--- a/source/RobotAPI/drivers/SickLaserUnit/CMakeLists.txt
+++ b/source/RobotAPI/drivers/SickLaserUnit/CMakeLists.txt
@@ -16,8 +16,6 @@ armarx_set_target("Library: ${LIB_NAME}")
find_package(sick_scan_base)
-armarx_build_if(sick_scan_base_FOUND "sick_scan_base not available")
-add_definitions(-DROSSIMU)
find_package(Boost COMPONENTS system filesystem thread REQUIRED)
armarx_build_if(Boost_FOUND "Boost not available")
@@ -40,7 +38,7 @@ armarx_add_component(
# This component
## SickLaserUnitInterfaces # If you defined a component ice interface above.
- ${sick_scan_base_LIBRARIES}
+ sick_scan_base::sick_scan_generic
${Boost_LIBRARIES}
SOURCES