diff --git a/pal_common_msgs/CMakeLists.txt b/pal_common_msgs/CMakeLists.txt
index 4e93220..0753452 100644
--- a/pal_common_msgs/CMakeLists.txt
+++ b/pal_common_msgs/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(pal_common_msgs)
 
-find_package(catkin REQUIRED COMPONENTS actionlib_msgs std_msgs message_generation)
+find_package(catkin REQUIRED COMPONENTS actionlib_msgs message_generation)
 
 add_action_files(
   DIRECTORY action
@@ -9,12 +9,4 @@ add_action_files(
     Disable.action
 )
 
-add_message_files(
-  DIRECTORY msg
-  FILES
-    JointCurrent.msg
-    )
-
-generate_messages(DEPENDENCIES actionlib_msgs std_msgs)
-
-catkin_package(CATKIN_DEPENDS actionlib_msgs std_msgs message_runtime)
+catkin_package(CATKIN_DEPENDS actionlib_msgs message_runtime)
diff --git a/pal_common_msgs/msg/JointCurrent.msg b/pal_common_msgs/msg/JointCurrent.msg
deleted file mode 100644
index d8090fb..0000000
--- a/pal_common_msgs/msg/JointCurrent.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# Joints or group name of joints to activate or deactivate
-string joints
-
-# From 0.0 to 1.0 max current to aply to the joint
-float32 current_limit
diff --git a/pal_common_msgs/package.xml b/pal_common_msgs/package.xml
index e999a29..f041fbd 100644
--- a/pal_common_msgs/package.xml
+++ b/pal_common_msgs/package.xml
@@ -11,11 +11,9 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>actionlib_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
 
   <run_depend>actionlib_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
   <run_depend>message_runtime</run_depend>
 
 </package>
diff --git a/pal_control_msgs/CMakeLists.txt b/pal_control_msgs/CMakeLists.txt
index f6f5777..027deaa 100644
--- a/pal_control_msgs/CMakeLists.txt
+++ b/pal_control_msgs/CMakeLists.txt
@@ -10,8 +10,6 @@ include_directories(include)
 add_message_files(DIRECTORY msg FILES ActuatorCurrentLimit.msg)
 add_action_files(DIRECTORY action FILES MotionManager.action)
 
-add_service_files(FILES CurrentLimit.srv)
-
 generate_messages(DEPENDENCIES actionlib_msgs)
 
 catkin_package(CATKIN_DEPENDS message_runtime
diff --git a/pal_control_msgs/srv/CurrentLimit.srv b/pal_control_msgs/srv/CurrentLimit.srv
deleted file mode 100644
index 0994133..0000000
--- a/pal_control_msgs/srv/CurrentLimit.srv
+++ /dev/null
@@ -1,10 +0,0 @@
-#This service requests to change the current limit of a motor 
-# to a new value. 
-# Admissible values are between 0 (zero current)  and 1 (nominal current).
-
-string    actuator_name
-float64   current_limit
-
----
-
-string   status