diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt
index 7dc7ee9d75cf3..3e379bcfd1cf1 100644
--- a/perception/multi_object_tracker/CMakeLists.txt
+++ b/perception/multi_object_tracker/CMakeLists.txt
@@ -31,9 +31,6 @@ set(MULTI_OBJECT_TRACKER_SRC
   src/tracker/model/unknown_tracker.cpp
   src/tracker/model/pass_through_tracker.cpp
   src/data_association/data_association.cpp
-)
-
-ament_auto_add_library(mu_successive_shortest_path SHARED
   src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
 )
 
@@ -42,7 +39,6 @@ ament_auto_add_library(multi_object_tracker_node SHARED
 )
 
 target_link_libraries(multi_object_tracker_node
-  mu_successive_shortest_path
   Eigen3::Eigen
 )
 
diff --git a/perception/object_merger/CMakeLists.txt b/perception/object_merger/CMakeLists.txt
index 0d5ca532bdd9d..b02983db11af3 100644
--- a/perception/object_merger/CMakeLists.txt
+++ b/perception/object_merger/CMakeLists.txt
@@ -18,17 +18,13 @@ include_directories(
     ${EIGEN3_INCLUDE_DIR}
 )
 
-ament_auto_add_library(mu_successive_shortest_path SHARED
-  src/object_association_merger/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
-)
-
 ament_auto_add_library(object_association_merger SHARED
   src/object_association_merger/data_association/data_association.cpp
+  src/object_association_merger/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
   src/object_association_merger/node.cpp
 )
 
 target_link_libraries(object_association_merger
-  mu_successive_shortest_path
   Eigen3::Eigen
 )
 
diff --git a/perception/radar_object_tracker/CMakeLists.txt b/perception/radar_object_tracker/CMakeLists.txt
index 3e3afacadd00f..54ef7b047bf17 100644
--- a/perception/radar_object_tracker/CMakeLists.txt
+++ b/perception/radar_object_tracker/CMakeLists.txt
@@ -18,11 +18,6 @@ include_directories(
     ${EIGEN3_INCLUDE_DIR}
 )
 
-# Targets
-ament_auto_add_library(mu_successive_shortest_path SHARED
-  src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
-)
-
 ament_auto_add_library(radar_object_tracker_node SHARED
   src/radar_object_tracker_node/radar_object_tracker_node.cpp
   src/tracker/model/tracker_base.cpp
@@ -30,10 +25,10 @@ ament_auto_add_library(radar_object_tracker_node SHARED
   src/tracker/model/constant_turn_rate_motion_tracker.cpp
   src/utils/utils.cpp
   src/data_association/data_association.cpp
+  src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
 )
 
 target_link_libraries(radar_object_tracker_node
-  mu_successive_shortest_path
   Eigen3::Eigen
   yaml-cpp
   nlohmann_json::nlohmann_json # for debug
diff --git a/perception/tracking_object_merger/CMakeLists.txt b/perception/tracking_object_merger/CMakeLists.txt
index ed5aa76afbfd9..5e46b9403462d 100644
--- a/perception/tracking_object_merger/CMakeLists.txt
+++ b/perception/tracking_object_merger/CMakeLists.txt
@@ -21,19 +21,15 @@ include_directories(
     ${EIGEN3_INCLUDE_DIR}
 )
 
-ament_auto_add_library(mu_successive_shortest_path SHARED
-  src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
-)
-
 ament_auto_add_library(decorative_tracker_merger_node SHARED
   src/data_association/data_association.cpp
+  src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
   src/decorative_tracker_merger.cpp
   src/utils/utils.cpp
   src/utils/tracker_state.cpp
 )
 
 target_link_libraries(decorative_tracker_merger_node
-  mu_successive_shortest_path
   Eigen3::Eigen
 )