diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index b5ed02a4f..3f82862b1 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -36,14 +36,12 @@ find_package(FastRTPS REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 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)
 
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rosidl_generator_c)
-ament_export_dependencies(rosidl_generator_cpp)
 ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 
@@ -94,7 +92,7 @@ ament_target_dependencies(rmw_fastrtps_cpp
   "rosidl_typesupport_introspection_cpp"
   "rmw"
   "rosidl_generator_c"
-  "rosidl_generator_cpp")
+)
 
 configure_rmw_library(rmw_fastrtps_cpp)
 
diff --git a/rmw_fastrtps_cpp/package.xml b/rmw_fastrtps_cpp/package.xml
index 2c7208abd..c88d96ce7 100644
--- a/rmw_fastrtps_cpp/package.xml
+++ b/rmw_fastrtps_cpp/package.xml
@@ -18,7 +18,6 @@
   <build_depend>rcutils</build_depend>
   <build_depend>rmw</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
-  <build_depend>rosidl_generator_cpp</build_depend>
   <build_depend>rosidl_typesupport_introspection_c</build_depend>
   <build_depend>rosidl_typesupport_introspection_cpp</build_depend>
 
@@ -28,7 +27,6 @@
   <build_export_depend>rcutils</build_export_depend>
   <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_introspection_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_introspection_cpp</build_export_depend>