diff --git a/CMakeLists.txt b/CMakeLists.txt
index 20bb561db8b8c754116a6a2a2799f8934b83bdfe..d281619c18b470597640bd308f4d46fc36c32f15 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,8 +8,6 @@ find_package(catkin REQUIRED COMPONENTS roscpp)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(iriutils REQUIRED COMPONENTS system)
-
 
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
@@ -90,7 +88,6 @@ catkin_package(
 ## Your package locations should be listed before other locations
 include_directories(include)
 include_directories(${catkin_INCLUDE_DIRS})
-include_directories(${iriutils_INCLUDE_DIR})
 
 ## Declare a cpp library
 # add_library(iri_ros_tool
@@ -103,7 +100,6 @@ add_library(modules include/${PROJECT_NAME}/module_common.h include/${PROJECT_NA
 set_target_properties(modules PROPERTIES LINKER_LANGUAGE CXX)
 target_link_libraries(modules ${PROJECT_NAME})
 target_link_libraries(modules ${catkin_LIBRARIES})
-target_link_libraries(modules ${iriutils_LIBRARY})
 
 
 ## Declare a cpp executable
diff --git a/include/iri_ros_tools/module.h b/include/iri_ros_tools/module.h
index 48c7f53f55902c72546334b0e0bf6be3c5f68c02..0166c85787f3bc0ae7b6d180dcc36a0bfd999574 100644
--- a/include/iri_ros_tools/module.h
+++ b/include/iri_ros_tools/module.h
@@ -9,9 +9,9 @@
 #include <dynamic_reconfigure/server.h>
 #include <dynamic_reconfigure/Reconfigure.h>
 
-#include <iridrivers/threadserver.h>
-#include <iridrivers/eventserver.h>
-#include <iridrivers/mutex.h>
+#include "threadserver.h"
+#include "eventserver.h"
+#include "mutex.h"
 
 #define MODULE_DEFAULT_RATE 10
 
diff --git a/include/iri_ros_tools/module_action.h b/include/iri_ros_tools/module_action.h
index 7fd7d671b38fedd29f5ac272d4cb2c34023a4332..1aa80dbf13c8ca0e9511b1c1de5f164d8787c48e 100644
--- a/include/iri_ros_tools/module_action.h
+++ b/include/iri_ros_tools/module_action.h
@@ -11,7 +11,7 @@
 #include <actionlib/client/simple_action_client.h>
 #include <actionlib/action_definition.h>
 
-#include <iridrivers/mutex.h>
+#include "mutex.h"
 
 #define     DEFAULT_ACTION_MAX_RETRIES     5
 #define     DEFAULT_ACTION_TIMEOUT         10
diff --git a/include/iri_ros_tools/module_exceptions.h b/include/iri_ros_tools/module_exceptions.h
index e9b7b459a8a826e340b4b294e4f36bc302c21bc1..9ebdc4998b6355c9f46f80d6c97f3aaaad054abc 100644
--- a/include/iri_ros_tools/module_exceptions.h
+++ b/include/iri_ros_tools/module_exceptions.h
@@ -19,7 +19,7 @@
 #ifndef MODULE_EXCEPTIONS_H
 #define MODULE_EXCEPTIONS_H
 
-#include <iridrivers/exceptions.h>
+#include "exceptions.h"
 #include <string>
 
 const std::string module_exception_msg="[CModule class] - ";