diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index ca30488f79..9fddd6cd67 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -18,9 +18,7 @@ find_package(geometric_shapes REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(kdl_parser REQUIRED)
 find_package(moveit_msgs REQUIRED)
-# Enforce system version liboctomap-dev
-# https://github.com/moveit/moveit2/issues/2862
-find_package(octomap 1.9.7...<1.10.0 REQUIRED)
+find_package(octomap REQUIRED)
 find_package(octomap_msgs REQUIRED)
 find_package(osqp REQUIRED)
 find_package(pluginlib REQUIRED)
diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
index b8dd549bcb..f10094d162 100644
--- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt
+++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -13,9 +13,7 @@ find_package(moveit_core REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(Eigen3 REQUIRED)
-# Enforce system version liboctomap-dev
-# https://github.com/moveit/moveit2/issues/2862
-find_package(octomap 1.9.7...<1.10.0 REQUIRED)
+find_package(octomap REQUIRED)
 find_package(geometric_shapes REQUIRED)
 find_package(tf2_ros REQUIRED)