diff --git a/src/modules/simulation/gz_msgs/CMakeLists.txt b/src/modules/simulation/gz_msgs/CMakeLists.txt
index c74c010f91..2501811e5e 100644
--- a/src/modules/simulation/gz_msgs/CMakeLists.txt
+++ b/src/modules/simulation/gz_msgs/CMakeLists.txt
@@ -4,35 +4,10 @@
 #
 ############################################################################
 
-# message(FATAL_ERROR "JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE ")
-
-# Check for Gazebo first
-if(NOT DEFINED ENV{GZ_DISTRO})
-    set(GZ_DISTRO "harmonic" CACHE STRING "Gazebo distribution to use")
-else()
-    set(GZ_DISTRO $ENV{GZ_DISTRO})
-endif()
-
-# Set versions based on distribution
-if(GZ_DISTRO STREQUAL "harmonic")
-    set(GZ_CMAKE_VERSION "3")
-    set(GZ_MSGS_VERSION "10")
-    set(GZ_TRANSPORT_VERSION "13")
-elseif(GZ_DISTRO STREQUAL "ionic")
-    set(GZ_CMAKE_VERSION "4")
-    set(GZ_MSGS_VERSION "11")
-    set(GZ_TRANSPORT_VERSION "14")
-else()
-    message(FATAL_ERROR "Unknown Gazebo distribution: ${GZ_DISTRO}")
-endif()
-
 # Find required packages
-find_package(gz-transport${GZ_TRANSPORT_VERSION})
-if(gz-transport${GZ_TRANSPORT_VERSION}_FOUND)
-    find_package(gz-cmake${GZ_CMAKE_VERSION} REQUIRED)
-    find_package(gz-msgs${GZ_MSGS_VERSION} REQUIRED)
-    find_package(Protobuf REQUIRED)
+find_package(Protobuf)
 
+if (Protobuf_FOUND)
     # Generate protobuf messages
     file(GLOB MSGS_PROTOS "${CMAKE_CURRENT_SOURCE_DIR}/*.proto")
     PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS ${MSGS_PROTOS})
@@ -49,6 +24,9 @@ if(gz-transport${GZ_TRANSPORT_VERSION}_FOUND)
             ${Protobuf_INCLUDE_DIRS}
     )
     target_link_libraries(px4_gz_msgs PUBLIC ${PROTOBUF_LIBRARIES})
+    if (Protobuf_VERSION VERSION_LESS "3.8")
+        target_compile_options(px4_gz_msgs PRIVATE -Wno-error=float-equal)
+    endif()
 
     # Export the binary dir for other modules
     set(PX4_GZ_MSGS_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR} CACHE INTERNAL "")