diff --git a/README.md b/README.md
index d692724..ebd441b 100644
--- a/README.md
+++ b/README.md
@@ -5,15 +5,6 @@
   </p>
 </p>
 
-> [!IMPORTANT]
-> The optional rosrust dependency currently breaks the build of this crate because of a yanked transitive dependency on crates.io.
-> Use [this workaround](https://github.com/adnanademovic/rosrust/issues/210#issuecomment-2609494830) in your project when rosrust is needed.
-> If you are not using rosrust at all, you can also use the main branch of this repository, where the integration is removed at the moment.
-> ```toml
-> [dependencies]
-> ros_pointcloud2 = { version = "0.5.2", git = "https://github.com/stelzo/ros_pointcloud2.git" }
-> ```
-
 ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags.
 
 Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.1/) for a complete guide.
diff --git a/derive-test/Cargo.toml b/derive-test/Cargo.toml
index 5ecb7f0..aa2aa75 100644
--- a/derive-test/Cargo.toml
+++ b/derive-test/Cargo.toml
@@ -8,16 +8,12 @@ repository = "https://github.com/stelzo/ros_pointcloud2"
 license = "MIT OR Apache-2.0"
 keywords = ["ros", "pointcloud2", "pointcloud", "message"]
 categories = [
-    "science::robotics",
-    "encoding",
-    "data-structures",
-    "api-bindings",
+  "science::robotics",
+  "encoding",
+  "data-structures",
+  "api-bindings",
 ]
 
 [dependencies]
 ros_pointcloud2 = { path = "../rpcl2", features = ["std", "derive"] }
 rpcl2-derive = { path = "../rpcl2-derive" }
-
-[patch.crates-io]
-# Fixes https://github.com/adnanademovic/rosrust/issues/210
-xml-rpc = { git = "https://github.com/locusrobotics/xml-rpc-rs", branch = "minimum-update" }
diff --git a/rpcl2/tests/rosrust_msg_test.rs b/rpcl2/tests/rosrust_msg_test.rs
index 0eee884..2e7c795 100644
--- a/rpcl2/tests/rosrust_msg_test.rs
+++ b/rpcl2/tests/rosrust_msg_test.rs
@@ -1,5 +1,3 @@
-#![allow(unexpected_cfgs)] // TODO remove when rosrust is fixed
-
 #[cfg(feature = "rosrust_msg")]
 #[test]
 fn convertxyz_rosrust_msg() {