diff --git a/cmake/segwayrmp_serial.cmake b/cmake/segwayrmp_serial.cmake
index 0250c2f..8c86268 100644
--- a/cmake/segwayrmp_serial.cmake
+++ b/cmake/segwayrmp_serial.cmake
@@ -7,36 +7,16 @@ if(SEGWAYRMP_USE_SERIAL)
     set(SEGWAYRMP_USE_SERIAL TRUE)
     include_directories(serial_INCLUDE_DIRS)
     list(APPEND SEGWAYRMP_LINK_LIBS ${serial_LIBRARIES})
-  else(serial_FOUND)
-    # Try to use ROS to find it
-    set(ROS_ROOT $ENV{ROS_ROOT})
-    if(DEFINED ROS_ROOT)
-      message("-- Using ROS to resolve serial dependency")
-      # Setup ROS build
-      include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-      rosbuild_init()
-      # Add include and link directories
-      include_directories(${${PROJECT_NAME}_INCLUDE_DIRS})
-      link_directories(${${PROJECT_NAME}_LIBRARY_DIRS})
-      # Add ROS libraries for this "project"
-      list(APPEND SEGWAYRMP_LINK_LIBS ${${PROJECT_NAME}_LIBRARIES})
-      # Set the default path for built executables to the "bin" directory
-      set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-      # set the default path for built libraries to the "lib" directory
-      set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-      # We found it, set true
-      set(SEGWAYRMP_USE_SERIAL TRUE)
-    else(DEFINED ROS_ROOT)
-      # Could not find serial either through find_package or ROS
-      message("--")
-      message("-- Serial support disabled: Serial library not found.")
-      message("--")
-    endif(DEFINED ROS_ROOT)
-  endif(serial_FOUND)
+  else()
+    # Could not find serial either through find_package or ROS
+    message("--")
+    message("-- Serial support disabled: Serial library not found.")
+    message("--")
+  endif()
 
   if(SEGWAYRMP_USE_SERIAL)
     message("-- Building SegwayRMP with serial support")
     list(APPEND SEGWAYRMP_SRCS src/impl/rmp_serial.cc)
     add_definitions(-DSEGWAYRMP_USE_SERIAL)
-  endif(SEGWAYRMP_USE_SERIAL)
-endif(SEGWAYRMP_USE_SERIAL)
+  endif()
+endif()
diff --git a/manifest.xml b/manifest.xml
deleted file mode 100644
index 046f053..0000000
--- a/manifest.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<package>
-  <description brief="libsegwayrmp">
-
-     libsegwayrmp
-
-  </description>
-  <author>William Woodall</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/libsegwayrmp</url>
-  <depend package="serial"/>
-
-  <export>
-    <cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -Wl,-rpath,${prefix}/lib -lsegwayrmp -lftd2xx"/>
-  </export>
-
-</package>
-
-
diff --git a/segway.sublime-project b/segway.sublime-project
index d19fda8..97c7248 100644
--- a/segway.sublime-project
+++ b/segway.sublime-project
@@ -2,13 +2,10 @@
 	"folders":
 	[
 		{
-			"path": "/Users/william/devel/tmp/segwayrmp"
+			"path": "."
 		},
 		{
-			"path": "/Users/william/devel/segwayrmp_ws/libsegwayrmp"
-		},
-		{
-			"path": "/Users/william/devel/serial"
+			"path": "../serial"
 		}
 	],
 	"settings":
diff --git a/stack.xml b/stack.xml
deleted file mode 100644
index 2a8233b..0000000
--- a/stack.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<stack>
-  <description brief="libsegwayrmp">libsegwayrmp</description>
-  <author>Maintained by William Woodall</author>
-  <license>BSD</license>  
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/libsegwayrmp</url>
-  <depend stack="serial" />
-
-</stack>