diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0cb457a8..ae534ba7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -57,7 +57,6 @@ add_message_files(DIRECTORY msg/gazebo_simulation FILES
 # messages for the UAV_MANAGERS
 add_message_files(DIRECTORY msg/uav_managers FILES
 
-  BumperStatus.msg
   ConstraintManagerDiagnostics.msg
   ControlError.msg
   ControllerDiagnostics.msg
@@ -110,7 +109,6 @@ add_message_files(DIRECTORY msg/trajectory_generation FILES
 # services for UAV_MANAGERS
 add_service_files(DIRECTORY srv/uav_managers FILES
 
-  BumperParamsSrv.srv
   ConstraintsOverride.srv
   DynamicsConstraintsSrv.srv
   ReferenceSrv.srv
diff --git a/msg/uav_managers/BumperStatus.msg b/msg/uav_managers/BumperStatus.msg
deleted file mode 100644
index 62d294e2..00000000
--- a/msg/uav_managers/BumperStatus.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-time stamp
-bool repulsing
-bool modifying_reference
diff --git a/srv/uav_managers/BumperParamsSrv.srv b/srv/uav_managers/BumperParamsSrv.srv
deleted file mode 100644
index eb701cd4..00000000
--- a/srv/uav_managers/BumperParamsSrv.srv
+++ /dev/null
@@ -1,12 +0,0 @@
-float64 horizontal_limit
-float64 vertical_limit
-
-float64 repulsion_horizontal_limit
-float64 repulsion_vertical_limit
-
-float64 repulsion_horizontal_offset
-float64 repulsion_vertical_offset
-
----
-bool success
-string message