diff --git a/airo-camera-toolkit/setup.py b/airo-camera-toolkit/setup.py
index 7ac9709..337a5b5 100644
--- a/airo-camera-toolkit/setup.py
+++ b/airo-camera-toolkit/setup.py
@@ -17,16 +17,12 @@
         "rerun-sdk>=0.11.0",
         "click",
         "loguru",
+        "airo-typing",
+        "airo-spatial-algebra",
+        "airo-robots",
+        "airo-dataset-tools",
     ],
-    extras_require={
-        "external": [
-            f"airo_typing @ file://localhost/{root_folder}/airo-typing",
-            f"airo_spatial_algebra @ file://localhost/{root_folder}/airo-spatial-algebra",
-            f"airo_robots @ file://localhost/{root_folder}/airo-robots",
-            f"airo_dataset_tools @ file://localhost/{root_folder}/airo-dataset-tools",
-        ]
-    },
-    packages=setuptools.find_packages(),
+    packages=setuptools.find_packages(exclude=["test"]),
     entry_points={
         "console_scripts": [
             "airo-camera-toolkit = airo_camera_toolkit.cli:cli",
diff --git a/airo-dataset-tools/setup.py b/airo-dataset-tools/setup.py
index 9eba17e..93045ef 100644
--- a/airo-dataset-tools/setup.py
+++ b/airo-dataset-tools/setup.py
@@ -1,7 +1,6 @@
 import pathlib
 
 import setuptools
-from setuptools import find_packages
 
 root_folder = pathlib.Path(__file__).parents[1]
 setuptools.setup(
@@ -22,14 +21,10 @@
         "Pillow",
         "types-Pillow",
         "albumentations",
+        "airo-typing",
+        "airo-spatial-algebra",
     ],
-    extras_require={
-        "external": [
-            f"airo_typing @ file://localhost/{root_folder}/airo-typing",
-            f"airo_spatial_algebra @ file://localhost/{root_folder}/airo-spatial-algebra",
-        ]
-    },
-    packages=find_packages(),
+    packages=setuptools.find_packages(exclude=["test"]),
     entry_points={
         "console_scripts": [
             "airo-dataset-tools = airo_dataset_tools.cli:cli",
diff --git a/airo-robots/setup.py b/airo-robots/setup.py
index 791d569..5ac04e7 100644
--- a/airo-robots/setup.py
+++ b/airo-robots/setup.py
@@ -9,13 +9,13 @@
     description="Interfaces, hardware implementations of those interfaces and other functionalities to control robot manipulators and grippers at the Ghent University AI and Robotics Lab",
     author="Thomas Lips",
     author_email="thomas.lips@ugent.be",
-    install_requires=["numpy", "ur-rtde>=1.5.7", "click"],  # cf https://github.com/airo-ugent/airo-mono/issues/52
-    extras_require={
-        "external": [
-            f"airo_typing @ file://localhost/{root_folder}/airo-typing",
-            f"airo_spatial_algebra @ file://localhost/{root_folder}/airo-spatial-algebra",
-        ]
-    },
+    install_requires=[
+        "numpy",
+        "ur-rtde>=1.5.7",  # cf https://github.com/airo-ugent/airo-mono/issues/52
+        "click",
+        "airo-typing",
+        "airo-spatial-algebra",
+    ],
     packages=setuptools.find_packages(),
     package_data={"airo_robots": ["py.typed"]},
 )
diff --git a/airo-spatial-algebra/setup.py b/airo-spatial-algebra/setup.py
index 56d0d48..cd8177b 100644
--- a/airo-spatial-algebra/setup.py
+++ b/airo-spatial-algebra/setup.py
@@ -9,17 +9,8 @@
     description="code for working with SE3 poses,transforms,... for robotic manipulation at the Ghent University AI and Robotics Lab",
     author="Thomas Lips",
     author_email="thomas.lips@ugent.be",
-    install_requires=[
-        "numpy",
-        "scipy",
-        "spatialmath-python",
-    ],
-    extras_require={
-        "external": [
-            f"airo_typing @ file://localhost/{root_folder}/airo-typing",
-        ]
-    },
-    packages=setuptools.find_packages(),
+    install_requires=["numpy", "scipy", "spatialmath-python", "airo-typing"],
+    packages=setuptools.find_packages(exclude=["test"]),
     # include py.typed to declare type information is available, see
     # https://mypy.readthedocs.io/en/stable/installed_packages.html#making-pep-561-compatible-packages
     package_data={"airo_spatial_algebra": ["py.typed"]},
diff --git a/airo-teleop/setup.py b/airo-teleop/setup.py
index 6114609..4b29a28 100644
--- a/airo-teleop/setup.py
+++ b/airo-teleop/setup.py
@@ -9,13 +9,6 @@
     description="teleoperation functionality for manually controlling manipulators and grippers using gaming controllers etc. at the Ghent University AI and Robotics Lab",
     author="Thomas Lips",
     author_email="thomas.lips@ugent.be",
-    install_requires=["pygame", "click", "loguru"],
-    extras_require={
-        "external": [
-            f"airo_typing @ file://localhost/{root_folder}/airo-typing",
-            f"airo_spatial_algebra @ file://localhost/{root_folder}/airo-spatial-algebra",
-            f"airo_robots @file://localhost/{root_folder}/airo-robots",
-        ]
-    },
-    packages=setuptools.find_packages(),
+    install_requires=["pygame", "click", "loguru", "airo-typing", "airo-spatial-algebra", "airo-robots"],
+    packages=setuptools.find_packages(exclude=["test"]),
 )
diff --git a/airo-typing/setup.py b/airo-typing/setup.py
index 38c2cd1..bc1d87c 100644
--- a/airo-typing/setup.py
+++ b/airo-typing/setup.py
@@ -7,6 +7,6 @@
     author="Thomas Lips",
     author_email="thomas.lips@ugent.be",
     install_requires=["numpy"],
-    packages=["airo_typing"],
+    packages=setuptools.find_packages(exclude=["test"]),
     package_data={"airo_typing": ["py.typed"]},
 )