diff --git a/CMakeLists.txt b/CMakeLists.txt
index db265d439d222bb6a216880e3c4f3a3cae78da57..2d6360c4fb29d841c6edad80623b4f21eca3e373 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -445,29 +445,6 @@ add_source_group(${PROJECT_NAME}_SOURCES)
 
 # Install package for ROS
 install(FILES package.xml DESTINATION share/eigenpy)
-# Allows Colcon to find non-Ament packages when using workspace underlays
-file(
-  WRITE
-  ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
-  "")
-install(
-  FILES
-    ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
-  DESTINATION share/ament_index/resource_index/packages)
-file(
-  WRITE
-  ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
-  "prepend-non-duplicate;AMENT_PREFIX_PATH;")
-install(
-  FILES
-    ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
-  DESTINATION share/${PROJECT_NAME}/hook)
-file(WRITE
-     ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
-     "prepend-non-duplicate;PYTHONPATH;${PYTHON_SITELIB}")
-install(
-  FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
-  DESTINATION share/${PROJECT_NAME}/hook)
 
 # ----------------------------------------------------
 # --- PYTHON LIBRARY ---------------------------------
diff --git a/cmake b/cmake
index b8c5ab9a1acebc0504969d3c0a2cd95ed620bc89..6b0564f45af29a90160aafdfd67eb7a07ace48ed 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit b8c5ab9a1acebc0504969d3c0a2cd95ed620bc89
+Subproject commit 6b0564f45af29a90160aafdfd67eb7a07ace48ed