diff --git a/nav2_rviz_plugins/CMakeLists.txt b/nav2_rviz_plugins/CMakeLists.txt
index dce40f2d279..b6e4276e87c 100644
--- a/nav2_rviz_plugins/CMakeLists.txt
+++ b/nav2_rviz_plugins/CMakeLists.txt
@@ -105,11 +105,6 @@ install(
   DESTINATION include/
 )
 
-install(
-  DIRECTORY "${CMAKE_SOURCE_DIR}/icons"
-  DESTINATION "share/${PROJECT_NAME}"
-)
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
diff --git a/nav2_rviz_plugins/icons/SetGoal.png b/nav2_rviz_plugins/icons/SetGoal.png
deleted file mode 100644
index 91de9c0ca99..00000000000
Binary files a/nav2_rviz_plugins/icons/SetGoal.png and /dev/null differ
diff --git a/nav2_rviz_plugins/icons/Time.svg b/nav2_rviz_plugins/icons/Time.svg
deleted file mode 100644
index afd2603c860..00000000000
--- a/nav2_rviz_plugins/icons/Time.svg
+++ /dev/null
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diff --git a/nav2_rviz_plugins/src/goal_tool.cpp b/nav2_rviz_plugins/src/goal_tool.cpp
index fe510062f57..97d5e54b096 100644
--- a/nav2_rviz_plugins/src/goal_tool.cpp
+++ b/nav2_rviz_plugins/src/goal_tool.cpp
@@ -38,7 +38,7 @@ void GoalTool::onInitialize()
 {
   PoseTool::onInitialize();
   setName("Navigation2 Goal");
-  setIcon(rviz_common::loadPixmap("package://nav2_rviz_plugins/icons/SetGoal.png"));
+  setIcon(rviz_common::loadPixmap("package://rviz_default_plugins/icons/classes/SetGoal.png"));
 }
 
 void