diff --git a/CMakeLists.txt b/CMakeLists.txt
index 63b191c..51b6492 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,6 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
-find_package(rosidl_typesupport_microxrcedds_c REQUIRED)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/package.xml b/package.xml
index f6a2b8a..56b0884 100644
--- a/package.xml
+++ b/package.xml
@@ -13,7 +13,6 @@
   <test_depend>ament_lint_common</test_depend>
 
   <build_depend>rosidl_default_generators</build_depend>
-  <build_depend>rosidl_typesupport_microxrcedds_c</build_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>