diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index 4668144..03ec4ee 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -6,7 +6,6 @@ find_package(ament_cmake REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
-find_package(rmw_implementation_cmake REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
 
 include_directories(include)
@@ -33,33 +32,29 @@ set(${PROJECT_NAME}_sources
   src/rcl/wait.c
 )
 
-macro(target)
-  add_library(${PROJECT_NAME}${target_suffix} SHARED ${${PROJECT_NAME}_sources})
-  ament_target_dependencies(${PROJECT_NAME}${target_suffix}
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_generator_c"
-    "${rmw_implementation}"
-  )
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_sources})
+ament_target_dependencies(${PROJECT_NAME}
+  "rcl_interfaces"
+  "rmw"
+  "rmw_implementation"
+  "rosidl_generator_c"
+)
 
-  # Causes the visibility macros to use dllexport rather than dllimport,
-  # which is appropriate when building the dll but not consuming it.
-  target_compile_definitions(${PROJECT_NAME}${target_suffix} PRIVATE "RCL_BUILDING_DLL")
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
 
-  install(
-    TARGETS ${PROJECT_NAME}${target_suffix}
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin)
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
-  # rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
-  # the librcl that they link against is on the library path.
-  # This is especially important on Windows.
-  # This is overwritten each loop, but which one it points to doesn't really matter.
-  set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}${target_suffix}>")
-endmacro()
-
-call_for_each_rmw_implementation(target GENERATE_DEFAULT)
+# rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
+# the librcl that they link against is on the library path.
+# This is especially important on Windows.
+# This is overwritten each loop, but which one it points to doesn't really matter.
+set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
 
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)
diff --git a/rcl/package.xml b/rcl/package.xml
index 271924e..882d2e8 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -14,7 +14,6 @@
   <build_export_depend>rmw</build_export_depend>
 
   <build_depend>rcl_interfaces</build_depend>
-  <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rosidl_generator_c</build_export_depend>
@@ -29,6 +28,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>rmw</test_depend>
+  <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>example_interfaces</test_depend>
   <test_depend>std_msgs</test_depend>
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 98fb856..4fcda8b 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -4,6 +4,8 @@ find_package(ament_cmake_nose REQUIRED)
 find_package(example_interfaces REQUIRED)
 find_package(std_msgs REQUIRED)
 
+find_package(rmw_implementation_cmake REQUIRED)
+
 include(rcl_add_custom_executable.cmake)
 include(rcl_add_custom_gtest.cmake)
 include(rcl_add_custom_launch_test.cmake)
@@ -22,6 +24,7 @@ endmacro()
 
 function(test_target_function)
   message(STATUS "Creating tests for '${rmw_implementation}'")
+  list(APPEND extra_test_env RMW_IMPLEMENTATION=${rmw_implementation})
 
   # Gtests
 
@@ -29,7 +32,7 @@ function(test_target_function)
     SRCS rcl/test_allocator.cpp
     ENV ${extra_test_env}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
@@ -37,7 +40,7 @@ function(test_target_function)
     SRCS rcl/test_client.cpp
     ENV ${extra_test_env}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
@@ -45,7 +48,7 @@ function(test_target_function)
     SRCS rcl/test_time.cpp
     ENV ${extra_test_env}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
@@ -56,7 +59,7 @@ function(test_target_function)
       EMPTY_TEST=
       NORMAL_TEST=foo
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
@@ -73,7 +76,7 @@ function(test_target_function)
     SRCS rcl/test_graph.cpp
     ENV ${extra_test_env}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
     ${SKIP_TEST}
   )
@@ -82,7 +85,7 @@ function(test_target_function)
     SRCS rcl/test_rcl.cpp
     ENV ${extra_test_env}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
@@ -90,7 +93,7 @@ function(test_target_function)
     SRCS rcl/test_node.cpp
     ENV ${extra_test_env}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
@@ -98,7 +101,7 @@ function(test_target_function)
     SRCS rcl/test_publisher.cpp
     ENV ${extra_test_env}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
   )
 
@@ -106,7 +109,7 @@ function(test_target_function)
     SRCS rcl/test_service.cpp
     ENV ${extra_test_env}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
@@ -114,7 +117,7 @@ function(test_target_function)
     SRCS rcl/test_subscription.cpp
     ENV ${extra_test_env}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
   )
 
@@ -122,7 +125,7 @@ function(test_target_function)
     SRCS rcl/test_wait.cpp
     ENV ${extra_test_env}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
@@ -130,13 +133,13 @@ function(test_target_function)
 
   rcl_add_custom_executable(service_fixture${target_suffix}
     SRCS rcl/service_fixture.cpp
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   rcl_add_custom_executable(client_fixture${target_suffix}
     SRCS rcl/client_fixture.cpp
-    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt
index 46f7d76..6f67a4b 100644
--- a/rcl_lifecycle/CMakeLists.txt
+++ b/rcl_lifecycle/CMakeLists.txt
@@ -5,7 +5,6 @@ project(rcl_lifecycle)
 find_package(ament_cmake REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rmw REQUIRED)
-find_package(rmw_implementation_cmake REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 
 include_directories(include)
@@ -19,30 +18,24 @@ set_source_files_properties(
   ${rcl_lifecycle_sources}
   PROPERTIES language "C")
 
-macro(targets)
-  get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
+### C-Library depending only on RCL
+add_library(
+  rcl_lifecycle
+  SHARED
+  ${rcl_lifecycle_sources})
 
-  ### C-Library depending only on RCL
-  add_library(
-    rcl_lifecycle${target_suffix}
-    SHARED
-    ${rcl_lifecycle_sources})
+ament_target_dependencies(rcl_lifecycle
+  "lifecycle_msgs"
+  "rcl")
 
-  ament_target_dependencies(rcl_lifecycle${target_suffix}
-    "lifecycle_msgs"
-    "rcl${target_suffix}")
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(rcl_lifecycle PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
 
-  # Causes the visibility macros to use dllexport rather than dllimport,
-  # which is appropriate when building the dll but not consuming it.
-  target_compile_definitions(rcl_lifecycle${target_suffix} PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
-
-  install(TARGETS rcl_lifecycle${target_suffix}
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin)
-endmacro()
-
-call_for_each_rmw_implementation(targets GENERATE_DEFAULT)
+install(TARGETS rcl_lifecycle
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
 if(BUILD_TESTING)
   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
diff --git a/rcl_lifecycle/package.xml b/rcl_lifecycle/package.xml
index 0cc7b38..45f570b 100644
--- a/rcl_lifecycle/package.xml
+++ b/rcl_lifecycle/package.xml
@@ -13,7 +13,6 @@
   <build_depend>lifecycle_msgs</build_depend>
   <build_depend>rcl</build_depend>
   <build_depend>rmw_implementation</build_depend>
-  <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>rosidl_default_generators</build_depend>
 
   <exec_depend>lifecycle_msgs</exec_depend>