diff --git a/.dockerignore b/.dockerignore
index 2e5f2e60e0d..2f26d988248 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -31,7 +31,6 @@
 !moveit_ros/move_group/package.xml
 !moveit_ros/robot_interaction/package.xml
 !moveit_ros/visualization/package.xml
-!moveit_ros/manipulation/package.xml
 !moveit_ros/planning/package.xml
 !moveit_ros/planning_interface/package.xml
 !moveit_ros/benchmarks/package.xml
diff --git a/.github/CODEOWNERS.disabled b/.github/CODEOWNERS.disabled
index 1792eb51730..4582cf07ebf 100644
--- a/.github/CODEOWNERS.disabled
+++ b/.github/CODEOWNERS.disabled
@@ -69,7 +69,6 @@
 /moveit_experimental/                                       @AndyZe
 
 /moveit_ros/perception/                                     @jliukkonen @RoboticsYY
-/moveit_ros/manipulation/                                   @v4hn @felixvd
 /moveit_ros/benchmarks/                                     @henningkayser @MohmadAyman
 /moveit_ros/planning_interface/                             @mintar @rhaschke @felixvd
 /moveit_ros/robot_interaction/                              @mikeferguson @rhaschke
diff --git a/moveit_ros/move_group/src/move_group.cpp b/moveit_ros/move_group/src/move_group.cpp
index 09aadc7d0cb..c9058d77182 100644
--- a/moveit_ros/move_group/src/move_group.cpp
+++ b/moveit_ros/move_group/src/move_group.cpp
@@ -59,8 +59,6 @@ static const char* DEFAULT_CAPABILITIES[] = {
    "move_group/MoveGroupKinematicsService",
    "move_group/MoveGroupExecuteTrajectoryAction",
    "move_group/MoveGroupMoveAction",
-    // TODO (ddengster) : wait for port for moveit_ros_manipulation package
-   //"move_group/MoveGroupPickPlaceAction",
    "move_group/MoveGroupPlanService",
    "move_group/MoveGroupQueryPlannersService",
    "move_group/MoveGroupStateValidationService",
diff --git a/moveit_ros/moveit_ros/package.xml b/moveit_ros/moveit_ros/package.xml
index 65bf7a003f7..9f85ae25397 100644
--- a/moveit_ros/moveit_ros/package.xml
+++ b/moveit_ros/moveit_ros/package.xml
@@ -31,9 +31,6 @@
   <exec_depend>moveit_ros_robot_interaction</exec_depend>
   <exec_depend>moveit_ros_planning_interface</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
-  <!--
-  <exec_depend>moveit_ros_manipulation</exec_depend>
-  -->
   <exec_depend>moveit_ros_move_group</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 1efc97912b8..2ffe6e7e48a 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -51,7 +51,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   moveit_core
   moveit_ros_planning
   moveit_ros_warehouse
-#  moveit_ros_manipulation
   moveit_ros_move_group
   tf2
   tf2_eigen
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index c9898f5e62c..d9a2b68d489 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -62,10 +62,6 @@
 #include <moveit_msgs/srv/get_planner_params.hpp>
 #include <moveit_msgs/srv/set_planner_params.hpp>
 #include <moveit/utils/rclcpp_utils.h>
-// TODO(JafarAbdi): Enable once moveit_ros_manipulation is ported
-// #include <moveit_msgs/msg/place_location.hpp>
-// #include <moveit_msgs/action/pickup.hpp>
-// #include <moveit_msgs/action/place.hpp>
 
 #include <std_msgs/msg/string.hpp>
 #include <geometry_msgs/msg/transform_stamped.h>
@@ -163,14 +159,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     move_action_client_ = rclcpp_action::create_client<moveit_msgs::action::MoveGroup>(
         pnode_, rclcpp::names::append(opt_.move_group_namespace_, move_group::MOVE_ACTION));
     move_action_client_->wait_for_action_server(wait_for_servers.to_chrono<std::chrono::duration<double>>());
-    // TODO(JafarAbdi): Enable once moveit_ros_manipulation is ported
-    // pick_action_client_ = rclcpp_action::create_client<moveit_msgs::action::Pickup>(
-    //        node_, move_group::PICKUP_ACTION);
-    //    pick_action_client_->wait_for_action_server(std::chrono::nanoseconds(timeout_for_servers.nanoseconds()));
-    //
-    //    place_action_client_ = rclcpp_action::create_client<moveit_msgs::action::Place>(
-    //        node_, move_group::PLACE_ACTION);
-    //    place_action_client_->wait_for_action_server(std::chrono::nanoseconds(timeout_for_servers.nanoseconds()));
     execute_action_client_ = rclcpp_action::create_client<moveit_msgs::action::ExecuteTrajectory>(
         pnode_, rclcpp::names::append(opt_.move_group_namespace_, move_group::EXECUTE_ACTION_NAME));
     execute_action_client_->wait_for_action_server(wait_for_servers.to_chrono<std::chrono::duration<double>>());
diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml
index ceec9ef1f05..dc1fefab824 100644
--- a/moveit_ros/planning_interface/package.xml
+++ b/moveit_ros/planning_interface/package.xml
@@ -25,8 +25,6 @@
   <depend>moveit_ros_planning</depend>
   <depend>moveit_ros_warehouse</depend>
   <depend>moveit_ros_move_group</depend>
-  <!-- TODO(JafarAbdi): uncomment after porting moveit_ros_manipulation -->
-  <!--depend>moveit_ros_manipulation</depend-->
   <depend>rclcpp</depend>
   <depend>rclpy</depend>
   <depend>rclcpp_action</depend>
diff --git a/moveit_runtime/package.xml b/moveit_runtime/package.xml
index b5e5ae4f28b..79fa1f562d6 100644
--- a/moveit_runtime/package.xml
+++ b/moveit_runtime/package.xml
@@ -18,9 +18,6 @@
   <exec_depend>moveit_core</exec_depend>
   <exec_depend>moveit_planners</exec_depend>
   <exec_depend>moveit_plugins</exec_depend>
-  <!--
-  <exec_depend>moveit_ros_manipulation</exec_depend>
-  -->
   <exec_depend>moveit_ros_move_group</exec_depend>
   <!--
   TODO(henningkayser): enable after #307 is merged