diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index 58d21077f..6abde93e4 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -31,13 +31,10 @@ find_package(rosidl_generator_c REQUIRED)
 find_package(rosidl_generator_cpp REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
-find_package(rosidl_typesupport_cpp REQUIRED)
 
 ament_export_dependencies(rmw)
 ament_export_dependencies(rosidl_generator_c)
 ament_export_dependencies(rosidl_generator_cpp)
-ament_export_dependencies(rosidl_typesupport_c)
-ament_export_dependencies(rosidl_typesupport_cpp)
 ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 
@@ -54,9 +51,7 @@ ament_target_dependencies(rmw_fastrtps_cpp
   "rosidl_typesupport_introspection_cpp"
   "rmw"
   "rosidl_generator_c"
-  "rosidl_generator_cpp"
-  "rosidl_typesupport_c"
-  "rosidl_typesupport_cpp")
+  "rosidl_generator_cpp")
 
 configure_rmw_library(rmw_fastrtps_cpp)
 
diff --git a/rmw_fastrtps_cpp/package.xml b/rmw_fastrtps_cpp/package.xml
index 16439a4ff..6b94a37fe 100644
--- a/rmw_fastrtps_cpp/package.xml
+++ b/rmw_fastrtps_cpp/package.xml
@@ -18,8 +18,6 @@
   <build_depend>rmw</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
   <build_depend>rosidl_generator_cpp</build_depend>
-  <build_depend>rosidl_typesupport_c</build_depend>
-  <build_depend>rosidl_typesupport_cpp</build_depend>
   <build_depend>rosidl_typesupport_introspection_c</build_depend>
   <build_depend>rosidl_typesupport_introspection_cpp</build_depend>
 
@@ -28,8 +26,6 @@
   <build_export_depend>rmw</build_export_depend>
   <build_export_depend>rosidl_generator_c</build_export_depend>
   <build_export_depend>rosidl_generator_cpp</build_export_depend>
-  <build_export_depend>rosidl_typesupport_c</build_export_depend>
-  <build_export_depend>rosidl_typesupport_cpp</build_export_depend>
   <build_export_depend>rosidl_typesupport_introspection_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_introspection_cpp</build_export_depend>