diff --git a/moveit_core/ConfigExtras.cmake b/moveit_core/ConfigExtras.cmake
index 8475da4b4a..9daa70441d 100644
--- a/moveit_core/ConfigExtras.cmake
+++ b/moveit_core/ConfigExtras.cmake
@@ -10,5 +10,4 @@ find_package(
   program_options
   regex
   serialization
-  system
   thread)
diff --git a/moveit_kinematics/ConfigExtras.cmake b/moveit_kinematics/ConfigExtras.cmake
index adca88d82b..cbe96e25b3 100644
--- a/moveit_kinematics/ConfigExtras.cmake
+++ b/moveit_kinematics/ConfigExtras.cmake
@@ -1,3 +1,3 @@
 # Extras module needed for dependencies to find boost components
 
-find_package(Boost REQUIRED program_options system)
+find_package(Boost REQUIRED program_options)
diff --git a/moveit_planners/ompl/CMakeLists.txt b/moveit_planners/ompl/CMakeLists.txt
index 6462894745..cd4398fa11 100644
--- a/moveit_planners/ompl/CMakeLists.txt
+++ b/moveit_planners/ompl/CMakeLists.txt
@@ -5,14 +5,7 @@ project(moveit_planners_ompl LANGUAGES CXX)
 find_package(moveit_common REQUIRED)
 moveit_package()
 
-find_package(
-  Boost
-  REQUIRED
-  system
-  filesystem
-  date_time
-  thread
-  serialization)
+find_package(Boost REQUIRED filesystem date_time thread serialization)
 find_package(moveit_core REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
diff --git a/moveit_plugins/moveit_ros_control_interface/ConfigExtras.cmake b/moveit_plugins/moveit_ros_control_interface/ConfigExtras.cmake
index 01c37605f8..53dcf0739c 100644
--- a/moveit_plugins/moveit_ros_control_interface/ConfigExtras.cmake
+++ b/moveit_plugins/moveit_ros_control_interface/ConfigExtras.cmake
@@ -1,3 +1,3 @@
 # Extras module needed for dependencies to find boost components
 
-find_package(Boost REQUIRED COMPONENTS system thread)
+find_package(Boost REQUIRED COMPONENTS thread)
diff --git a/moveit_ros/move_group/ConfigExtras.cmake b/moveit_ros/move_group/ConfigExtras.cmake
index 30817cf001..113f0faa9b 100644
--- a/moveit_ros/move_group/ConfigExtras.cmake
+++ b/moveit_ros/move_group/ConfigExtras.cmake
@@ -1,10 +1,3 @@
 # Extras module needed for dependencies to find boost components
 
-find_package(
-  Boost
-  REQUIRED
-  system
-  filesystem
-  date_time
-  program_options
-  thread)
+find_package(Boost REQUIRED filesystem date_time program_options thread)
diff --git a/moveit_ros/planning/ConfigExtras.cmake b/moveit_ros/planning/ConfigExtras.cmake
index 3a527d95c1..b101f9b1f3 100644
--- a/moveit_ros/planning/ConfigExtras.cmake
+++ b/moveit_ros/planning/ConfigExtras.cmake
@@ -3,7 +3,6 @@
 find_package(
   Boost
   REQUIRED
-  system
   filesystem
   date_time
   program_options
diff --git a/moveit_ros/planning_interface/ConfigExtras.cmake b/moveit_ros/planning_interface/ConfigExtras.cmake
index 63a5f425e4..05ffe2fb24 100644
--- a/moveit_ros/planning_interface/ConfigExtras.cmake
+++ b/moveit_ros/planning_interface/ConfigExtras.cmake
@@ -8,4 +8,4 @@ find_package(
   Boost REQUIRED
   COMPONENTS date_time filesystem program_options
              # ${BOOST_PYTHON_COMPONENT}
-             system thread)
+             thread)
diff --git a/moveit_ros/visualization/ConfigExtras.cmake b/moveit_ros/visualization/ConfigExtras.cmake
index ddda760859..3b7b9699cd 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 filesystem)
diff --git a/moveit_ros/warehouse/ConfigExtras.cmake b/moveit_ros/warehouse/ConfigExtras.cmake
index 22f3754b57..aafdf62f8c 100644
--- a/moveit_ros/warehouse/ConfigExtras.cmake
+++ b/moveit_ros/warehouse/ConfigExtras.cmake
@@ -4,7 +4,6 @@ find_package(
   Boost
   REQUIRED
   thread
-  system
   filesystem
   regex
   date_time