diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0162507..9914d8f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.16)
 project(steam)
 
-option(USE_AMENT "Use ament_cmake to build lgmath for ROS2." ON)
+option(USE_AMENT "Use ament_cmake to build lgmath for ROS2." OFF)
 
 # Compiler setup (assumed to be GNU)
 set(CMAKE_CXX_STANDARD 17)
diff --git a/README.md b/README.md
index 02d57ba..263ef6b 100644
--- a/README.md
+++ b/README.md
@@ -4,8 +4,6 @@ STEAM (Simultaneous Trajectory Estimation and Mapping) Engine is an optimization
 
 [1] Barfoot, T. D. and Furgale, P. T., “_Associating Uncertainty with Three-Dimensional Poses for use in Estimation Problems_,” IEEE Transactions on Robotics, 2014.
 
-**Note**: This branch is for VTR3, and the `USE_AMENT` flag is `ON` by default.
-
 ## Installation
 
 ### Dependencies