diff --git a/rosidl_typesupport_microxrcedds_c/CMakeLists.txt b/rosidl_typesupport_microxrcedds_c/CMakeLists.txt
index f35d375..3bd79d1 100644
--- a/rosidl_typesupport_microxrcedds_c/CMakeLists.txt
+++ b/rosidl_typesupport_microxrcedds_c/CMakeLists.txt
@@ -21,7 +21,6 @@ find_package(microcdr REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 
-ament_export_dependencies(rmw)
 ament_export_dependencies(rosidl_cmake)
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(rosidl_typesupport_interface)
diff --git a/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_c_generate_interfaces.cmake b/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_c_generate_interfaces.cmake
index 8587799..f4e4319 100644
--- a/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_c_generate_interfaces.cmake
+++ b/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_c_generate_interfaces.cmake
@@ -14,7 +14,6 @@
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(microcdr REQUIRED)
-find_package(rmw REQUIRED)
 
 set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_microxrcedds_c/${PROJECT_NAME}")
 
@@ -148,7 +147,6 @@ target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
 
 ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
   "microcdr"
-  "rmw"
   "rosidl_runtime_c"
   "rosidl_typesupport_microxrcedds_c"
   "rosidl_typesupport_interface"
diff --git a/rosidl_typesupport_microxrcedds_c/package.xml b/rosidl_typesupport_microxrcedds_c/package.xml
index 40de213..cf0e725 100644
--- a/rosidl_typesupport_microxrcedds_c/package.xml
+++ b/rosidl_typesupport_microxrcedds_c/package.xml
@@ -20,8 +20,6 @@
   <buildtool_export_depend>rosidl_runtime_c</buildtool_export_depend>
   <buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
 
-  <depend>rmw</depend>
-
   <exec_depend>rosidl_parser</exec_depend>
   <exec_depend>rosidl_typesupport_interface</exec_depend>