diff --git a/consai_ros2/robocup_ssl_comm/CMakeLists.txt b/consai_ros2/robocup_ssl_comm/CMakeLists.txt
index ad31d5d88..df1d34166 100644
--- a/consai_ros2/robocup_ssl_comm/CMakeLists.txt
+++ b/consai_ros2/robocup_ssl_comm/CMakeLists.txt
@@ -33,7 +33,6 @@ ament_auto_add_library(vision_component SHARED
 ament_auto_add_executable(vision_node
   src/vision_node.cpp
 )
-add_backward(vision_node)
 target_link_libraries(vision_node vision_component)
 
 rclcpp_components_register_nodes(vision_component "robocup_ssl_comm::Vision")
@@ -49,7 +48,6 @@ ament_auto_add_library(robot_status_component SHARED
 ament_auto_add_executable(robot_status_node
         src/robot_status_node.cpp
 )
-add_backward(robot_status_node)
 target_link_libraries(robot_status_node robot_status_component)
 
 rclcpp_components_register_nodes(robot_status_component "robocup_ssl_comm::GrSimRobotStatus")
@@ -65,7 +63,6 @@ ament_auto_add_library(game_controller_component SHARED
 ament_auto_add_executable(game_controller_node
   src/game_controller_node.cpp
 )
-add_backward(game_controller_node)
 target_link_libraries(game_controller_node game_controller_component)
 
 rclcpp_components_register_nodes(game_controller_component "robocup_ssl_comm::GameController")
@@ -78,7 +75,6 @@ ament_auto_add_library(grsim_component SHARED
 ament_auto_add_executable(grsim_node
   src/grsim_node.cpp
 )
-add_backward(grsim_node)
 target_link_libraries(grsim_node grsim_component)
 
 rclcpp_components_register_nodes(grsim_component "robocup_ssl_comm::GrSim")
diff --git a/consai_ros2/robocup_ssl_comm/package.xml b/consai_ros2/robocup_ssl_comm/package.xml
index 418f25211..3df7fed3a 100644
--- a/consai_ros2/robocup_ssl_comm/package.xml
+++ b/consai_ros2/robocup_ssl_comm/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>boost</depend>
   <depend>launch_ros</depend>
   <depend>rclcpp</depend>
diff --git a/crane_game_analyzer/CMakeLists.txt b/crane_game_analyzer/CMakeLists.txt
index 3c6bf6cfd..233b209dc 100755
--- a/crane_game_analyzer/CMakeLists.txt
+++ b/crane_game_analyzer/CMakeLists.txt
@@ -23,7 +23,6 @@ ament_auto_add_library(${PROJECT_NAME}_component SHARED src/crane_game_analyzer.
 
 ament_auto_add_executable(${PROJECT_NAME}_node
   src/${PROJECT_NAME}_node.cpp)
-add_backward(${PROJECT_NAME}_node)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/crane_game_analyzer/package.xml b/crane_game_analyzer/package.xml
index 174e601bd..6d16789e6 100755
--- a/crane_game_analyzer/package.xml
+++ b/crane_game_analyzer/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>closest_point_vendor</depend>
   <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
diff --git a/crane_gui/CMakeLists.txt b/crane_gui/CMakeLists.txt
index 4d4e5720b..8c995ce70 100644
--- a/crane_gui/CMakeLists.txt
+++ b/crane_gui/CMakeLists.txt
@@ -50,7 +50,6 @@ ament_auto_add_executable(${PROJECT_NAME}_node
 )
 
 target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME}_component)
-add_backward(${PROJECT_NAME}_node)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/crane_gui/package.xml b/crane_gui/package.xml
index c7dff47f5..6398aba88 100644
--- a/crane_gui/package.xml
+++ b/crane_gui/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>libglew-dev</depend>
   <depend>libglfw3-dev</depend>
   <depend>rclcpp</depend>
diff --git a/crane_local_planner/CMakeLists.txt b/crane_local_planner/CMakeLists.txt
index 380a07c5a..b00612a2c 100755
--- a/crane_local_planner/CMakeLists.txt
+++ b/crane_local_planner/CMakeLists.txt
@@ -24,7 +24,6 @@ rclcpp_components_register_nodes(${PROJECT_NAME}_component "crane::LocalPlannerC
 ament_auto_add_executable(${PROJECT_NAME}_node
   src/${PROJECT_NAME}_node.cpp
 )
-add_backward(${PROJECT_NAME}_node)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/crane_local_planner/package.xml b/crane_local_planner/package.xml
index 02b26d5af..39ccb956d 100755
--- a/crane_local_planner/package.xml
+++ b/crane_local_planner/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>closest_point_vendor</depend>
   <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
diff --git a/crane_play_switcher/CMakeLists.txt b/crane_play_switcher/CMakeLists.txt
index cfd0cc150..7caefa94d 100755
--- a/crane_play_switcher/CMakeLists.txt
+++ b/crane_play_switcher/CMakeLists.txt
@@ -23,7 +23,6 @@ rclcpp_components_register_nodes(play_switcher "crane::PlaySwitcher")
 ament_auto_add_executable(play_switcher_node
   src/play_switcher_node.cpp
 )
-add_backward(play_switcher_node)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/crane_play_switcher/package.xml b/crane_play_switcher/package.xml
index b00ffe4ab..ca55b2c7e 100755
--- a/crane_play_switcher/package.xml
+++ b/crane_play_switcher/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
diff --git a/crane_robot_receiver/CMakeLists.txt b/crane_robot_receiver/CMakeLists.txt
index d08a9c4db..27f03912f 100755
--- a/crane_robot_receiver/CMakeLists.txt
+++ b/crane_robot_receiver/CMakeLists.txt
@@ -21,7 +21,6 @@ ament_auto_add_executable(robot_receiver_node
   src/robot_receiver_node.cpp
 )
 target_link_libraries(robot_receiver_node atomic)
-add_backward(robot_receiver_node)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/crane_robot_receiver/package.xml b/crane_robot_receiver/package.xml
index f289c6dad..b25e632f8 100755
--- a/crane_robot_receiver/package.xml
+++ b/crane_robot_receiver/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>boost</depend>
   <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
diff --git a/crane_robot_skills/include/crane_robot_skills/skill_base.hpp b/crane_robot_skills/include/crane_robot_skills/skill_base.hpp
index aed69bdd9..4c70fab0d 100644
--- a/crane_robot_skills/include/crane_robot_skills/skill_base.hpp
+++ b/crane_robot_skills/include/crane_robot_skills/skill_base.hpp
@@ -7,11 +7,11 @@
 #ifndef CRANE_ROBOT_SKILLS__SKILL_BASE_HPP_
 #define CRANE_ROBOT_SKILLS__SKILL_BASE_HPP_
 
+#include <../magic_enum.hpp>
 #include <crane_msg_wrappers/consai_visualizer_wrapper.hpp>
 #include <crane_msg_wrappers/robot_command_wrapper.hpp>
 #include <crane_msg_wrappers/world_model_wrapper.hpp>
 #include <functional>
-#include <magic_enum.hpp>
 #include <memory>
 #include <string>
 #include <unordered_map>
diff --git a/crane_sender/CMakeLists.txt b/crane_sender/CMakeLists.txt
index 497c204ab..5cc17aaf7 100755
--- a/crane_sender/CMakeLists.txt
+++ b/crane_sender/CMakeLists.txt
@@ -22,8 +22,6 @@ ament_auto_add_library(sim_sender_component SHARED
 
 ament_auto_add_executable(sim_sender_node src/sim_sender_node.cpp)
 ament_auto_add_executable(ibis_sender_node src/ibis_sender_node.cpp)
-add_backward(sim_sender_node)
-add_backward(ibis_sender_node)
 
 if (BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/crane_sender/package.xml b/crane_sender/package.xml
index 0979078da..866f8a6f2 100755
--- a/crane_sender/package.xml
+++ b/crane_sender/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
diff --git a/crane_simple_ai/CMakeLists.txt b/crane_simple_ai/CMakeLists.txt
index 25987bba3..f238bf923 100755
--- a/crane_simple_ai/CMakeLists.txt
+++ b/crane_simple_ai/CMakeLists.txt
@@ -40,7 +40,6 @@ set(HEADERS
 ament_auto_add_executable(${PROJECT_NAME}
         ${SOURCES} ${HEADERS}
 )
-add_backward(${PROJECT_NAME})
 
 # Use the Widgets module from Qt 5
 target_link_libraries(${PROJECT_NAME} Qt5::Core Qt5::Gui Qt5::Widgets)
diff --git a/crane_simple_ai/package.xml b/crane_simple_ai/package.xml
index 1b21b5b5e..dadc36550 100755
--- a/crane_simple_ai/package.xml
+++ b/crane_simple_ai/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
diff --git a/crane_speaker/CMakeLists.txt b/crane_speaker/CMakeLists.txt
index ed8429ee2..de6a9808f 100755
--- a/crane_speaker/CMakeLists.txt
+++ b/crane_speaker/CMakeLists.txt
@@ -18,7 +18,6 @@ find_package(rclcpp_components REQUIRED)
 ament_auto_find_build_dependencies()
 
 ament_auto_add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp)
-add_backward(${PROJECT_NAME}_node)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/crane_speaker/package.xml b/crane_speaker/package.xml
index 689dd115c..01ec53d16 100755
--- a/crane_speaker/package.xml
+++ b/crane_speaker/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>crane_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
diff --git a/crane_world_model_publisher/CMakeLists.txt b/crane_world_model_publisher/CMakeLists.txt
index 5fd95fe20..5550c65ce 100755
--- a/crane_world_model_publisher/CMakeLists.txt
+++ b/crane_world_model_publisher/CMakeLists.txt
@@ -23,7 +23,6 @@ rclcpp_components_register_nodes(${PROJECT_NAME}_component "crane::WorldModelPub
 
 ament_auto_add_executable(${PROJECT_NAME}_node src/world_model_publisher_node.cpp)
 target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME}_component)
-add_backward(${PROJECT_NAME}_node)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/crane_world_model_publisher/package.xml b/crane_world_model_publisher/package.xml
index 0bb66b52a..34489a05c 100755
--- a/crane_world_model_publisher/package.xml
+++ b/crane_world_model_publisher/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>boost</depend>
   <depend>consai_visualizer_msgs</depend>
   <depend>crane_basics</depend>
diff --git a/session/crane_session_controller/CMakeLists.txt b/session/crane_session_controller/CMakeLists.txt
index 786490fd0..e731400d0 100755
--- a/session/crane_session_controller/CMakeLists.txt
+++ b/session/crane_session_controller/CMakeLists.txt
@@ -24,7 +24,6 @@ rclcpp_components_register_nodes(${PROJECT_NAME}_component "crane::SessionContro
 
 ament_auto_add_executable(${PROJECT_NAME}_node src/crane_session_controller_node.cpp)
 target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME}_component glog)
-add_backward(${PROJECT_NAME}_node)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/session/crane_session_controller/package.xml b/session/crane_session_controller/package.xml
index 09c2f6cc8..7d79b5199 100755
--- a/session/crane_session_controller/package.xml
+++ b/session/crane_session_controller/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>closest_point_vendor</depend>
   <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>