diff --git a/moveit_core/ConfigExtras.cmake b/moveit_core/ConfigExtras.cmake
index 8475da4b4a..e3854afd27 100644
--- a/moveit_core/ConfigExtras.cmake
+++ b/moveit_core/ConfigExtras.cmake
@@ -5,7 +5,6 @@ find_package(
   REQUIRED
   chrono
   date_time
-  filesystem
   iostreams
   program_options
   regex
diff --git a/moveit_planners/ompl/CMakeLists.txt b/moveit_planners/ompl/CMakeLists.txt
index 6462894745..cfa453c3a3 100644
--- a/moveit_planners/ompl/CMakeLists.txt
+++ b/moveit_planners/ompl/CMakeLists.txt
@@ -9,7 +9,6 @@ find_package(
   Boost
   REQUIRED
   system
-  filesystem
   date_time
   thread
   serialization)
diff --git a/moveit_ros/benchmarks/ConfigExtras.cmake b/moveit_ros/benchmarks/ConfigExtras.cmake
index 6a47938d41..d241df130f 100644
--- a/moveit_ros/benchmarks/ConfigExtras.cmake
+++ b/moveit_ros/benchmarks/ConfigExtras.cmake
@@ -1,3 +1,3 @@
 # Extras module needed for dependencies to find boost components
 
-find_package(Boost REQUIRED date_time filesystem)
+find_package(Boost REQUIRED date_time)
diff --git a/moveit_ros/benchmarks/package.xml b/moveit_ros/benchmarks/package.xml
index cce4c32031..d7519efade 100644
--- a/moveit_ros/benchmarks/package.xml
+++ b/moveit_ros/benchmarks/package.xml
@@ -22,7 +22,6 @@
 
   <build_depend>libboost-dev</build_depend>
   <build_depend>libboost-date-time-dev</build_depend>
-  <build_depend>libboost-filesystem-dev</build_depend>
 
   <depend>moveit_ros_planning</depend>
   <depend>moveit_ros_warehouse</depend>
@@ -31,7 +30,6 @@
   <depend version_gte="1.11.2">pluginlib</depend>
 
   <exec_depend>libboost-date-time</exec_depend>
-  <exec_depend>libboost-filesystem</exec_depend>
   <exec_depend>moveit_configs_utils</exec_depend>
   <exec_depend>launch_param_builder</exec_depend>
 
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index 8ad6388134..ba07f6d898 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -58,7 +58,6 @@ using boost_progress_display = boost::progress_display;
 #endif
 
 #include <boost/math/constants/constants.hpp>
-#include <boost/filesystem.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <math.h>
 #include <limits>
diff --git a/moveit_ros/hybrid_planning/test/CMakeLists.txt b/moveit_ros/hybrid_planning/test/CMakeLists.txt
index 6d62727f0a..bf062db83c 100644
--- a/moveit_ros/hybrid_planning/test/CMakeLists.txt
+++ b/moveit_ros/hybrid_planning/test/CMakeLists.txt
@@ -4,7 +4,7 @@ ament_target_dependencies(cancel_action PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ros_testing REQUIRED)
-  find_package(Boost REQUIRED COMPONENTS filesystem)
+  find_package(Boost REQUIRED COMPONENTS)
 
   # TODO (vatanaksoytezer / andyze: Flaky behaviour, investigate and re-enable
   # this test asap) Basic integration tests
diff --git a/moveit_ros/move_group/ConfigExtras.cmake b/moveit_ros/move_group/ConfigExtras.cmake
index 30817cf001..dd43012b46 100644
--- a/moveit_ros/move_group/ConfigExtras.cmake
+++ b/moveit_ros/move_group/ConfigExtras.cmake
@@ -4,7 +4,6 @@ find_package(
   Boost
   REQUIRED
   system
-  filesystem
   date_time
   program_options
   thread)
diff --git a/moveit_ros/planning/ConfigExtras.cmake b/moveit_ros/planning/ConfigExtras.cmake
index 3a527d95c1..600d07f5fc 100644
--- a/moveit_ros/planning/ConfigExtras.cmake
+++ b/moveit_ros/planning/ConfigExtras.cmake
@@ -4,7 +4,6 @@ find_package(
   Boost
   REQUIRED
   system
-  filesystem
   date_time
   program_options
   thread
diff --git a/moveit_ros/planning_interface/ConfigExtras.cmake b/moveit_ros/planning_interface/ConfigExtras.cmake
index 63a5f425e4..d0242dbbdd 100644
--- a/moveit_ros/planning_interface/ConfigExtras.cmake
+++ b/moveit_ros/planning_interface/ConfigExtras.cmake
@@ -6,6 +6,6 @@
 
 find_package(
   Boost REQUIRED
-  COMPONENTS date_time filesystem program_options
+  COMPONENTS date_time program_options
              # ${BOOST_PYTHON_COMPONENT}
              system thread)
diff --git a/moveit_ros/visualization/ConfigExtras.cmake b/moveit_ros/visualization/ConfigExtras.cmake
index ddda760859..97df3237a6 100644
--- a/moveit_ros/visualization/ConfigExtras.cmake
+++ b/moveit_ros/visualization/ConfigExtras.cmake
@@ -1,3 +1,3 @@
 # Extras module needed for dependencies to find boost components
 
-find_package(Boost REQUIRED thread date_time system filesystem)
+find_package(Boost REQUIRED thread date_time system)
diff --git a/moveit_ros/warehouse/ConfigExtras.cmake b/moveit_ros/warehouse/ConfigExtras.cmake
index 22f3754b57..c8c9201e2b 100644
--- a/moveit_ros/warehouse/ConfigExtras.cmake
+++ b/moveit_ros/warehouse/ConfigExtras.cmake
@@ -5,7 +5,6 @@ find_package(
   REQUIRED
   thread
   system
-  filesystem
   regex
   date_time
   program_options)