diff --git a/nav2_behaviors/CMakeLists.txt b/nav2_behaviors/CMakeLists.txt
index 362851f7f25..df200309d94 100644
--- a/nav2_behaviors/CMakeLists.txt
+++ b/nav2_behaviors/CMakeLists.txt
@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_behaviors)
 
 find_package(ament_cmake REQUIRED)
-find_package(irobot_events_executor REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
@@ -31,7 +30,6 @@ set(executable_name behavior_server)
 
 set(dependencies
   rclcpp
-  irobot_events_executor
   rclcpp_action
   rclcpp_lifecycle
   rclcpp_components
diff --git a/nav2_behaviors/package.xml b/nav2_behaviors/package.xml
index 3b1c8292dd7..6f6494b7557 100644
--- a/nav2_behaviors/package.xml
+++ b/nav2_behaviors/package.xml
@@ -12,7 +12,6 @@
   <build_depend>nav2_common</build_depend>
 
   <build_depend>rclcpp</build_depend>
-  <build_depend>irobot_events_executor</build_depend>
   <build_depend>rclcpp_action</build_depend>
   <build_depend>rclcpp_lifecycle</build_depend>
   <build_depend>nav2_behavior_tree</build_depend>
diff --git a/nav2_behaviors/src/main.cpp b/nav2_behaviors/src/main.cpp
index dc7b6b4f3c5..4af82831f32 100644
--- a/nav2_behaviors/src/main.cpp
+++ b/nav2_behaviors/src/main.cpp
@@ -16,7 +16,6 @@
 #include <memory>
 
 #include "nav2_behaviors/behavior_server.hpp"
-#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 int main(int argc, char ** argv)
@@ -24,10 +23,7 @@ int main(int argc, char ** argv)
   rclcpp::init(argc, argv);
   auto recoveries_node = std::make_shared<behavior_server::BehaviorServer>();
 
-  auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();
-
-  executor->add_node(recoveries_node->get_node_base_interface());
-  executor->spin();
+  rclcpp::spin(recoveries_node->get_node_base_interface());
   rclcpp::shutdown();
 
   return 0;
diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
index ca599c1a09e..ded67fbf41a 100644
--- a/nav2_controller/CMakeLists.txt
+++ b/nav2_controller/CMakeLists.txt
@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_controller)
 
 find_package(ament_cmake REQUIRED)
-find_package(irobot_events_executor REQUIRED)
 find_package(nav2_core REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(angles REQUIRED)
@@ -37,7 +36,6 @@ add_library(${library_name} SHARED
 set(dependencies
   angles
   rclcpp
-  irobot_events_executor
   rclcpp_action
   rclcpp_components
   std_msgs
diff --git a/nav2_controller/src/main.cpp b/nav2_controller/src/main.cpp
index a077993e6cb..a69adf583b7 100644
--- a/nav2_controller/src/main.cpp
+++ b/nav2_controller/src/main.cpp
@@ -15,19 +15,13 @@
 #include <memory>
 
 #include "nav2_controller/controller_server.hpp"
-
-#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<nav2_controller::ControllerServer>();
-  
-  auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();
-
-  executor->add_node(node->get_node_base_interface());
-  executor->spin();
+  rclcpp::spin(node->get_node_base_interface());
   rclcpp::shutdown();
 
   return 0;
diff --git a/nav2_planner/CMakeLists.txt b/nav2_planner/CMakeLists.txt
index fb44dcbb236..197150837c9 100644
--- a/nav2_planner/CMakeLists.txt
+++ b/nav2_planner/CMakeLists.txt
@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_planner)
 
 find_package(ament_cmake REQUIRED)
-find_package(irobot_events_executor REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
@@ -31,7 +30,6 @@ set(library_name ${executable_name}_core)
 
 set(dependencies
   rclcpp
-  irobot_events_executor
   rclcpp_action
   rclcpp_lifecycle
   rclcpp_components
diff --git a/nav2_planner/package.xml b/nav2_planner/package.xml
index 57abed69cb7..18873edabdd 100644
--- a/nav2_planner/package.xml
+++ b/nav2_planner/package.xml
@@ -10,7 +10,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
-  <depend>irobot_events_executor</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>visualization_msgs</depend>
diff --git a/nav2_planner/src/main.cpp b/nav2_planner/src/main.cpp
index d498594e322..987db78ccf5 100644
--- a/nav2_planner/src/main.cpp
+++ b/nav2_planner/src/main.cpp
@@ -16,20 +16,13 @@
 #include <memory>
 
 #include "nav2_planner/planner_server.hpp"
-
-#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<nav2_planner::PlannerServer>();
-  
-  auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();
-
-  executor->add_node(node->get_node_base_interface());
-  executor->spin();
-
+  rclcpp::spin(node->get_node_base_interface());
   rclcpp::shutdown();
 
   return 0;