diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 7a7a8e9..46eab20 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -7,7 +7,6 @@ find_package(rcl 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_cpp REQUIRED)
 find_package(rosidl_typesupport_c REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
@@ -54,31 +53,24 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/utilities.cpp
 )
 
-macro(target)
-  if(NOT target_suffix STREQUAL "")
-    get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
-  endif()
-  add_library(${PROJECT_NAME}${target_suffix} SHARED
-    ${${PROJECT_NAME}_SRCS})
-  ament_target_dependencies(${PROJECT_NAME}${target_suffix}
-    "rcl${target_suffix}"
-    "rosidl_generator_cpp"
-    "rosidl_typesupport_cpp")
+add_library(${PROJECT_NAME} SHARED
+  ${${PROJECT_NAME}_SRCS})
+ament_target_dependencies(${PROJECT_NAME}
+  "rcl"
+  "rosidl_generator_cpp"
+  "rosidl_typesupport_cpp")
 
-  # 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 "RCLCPP_BUILDING_LIBRARY")
+# 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 "RCLCPP_BUILDING_LIBRARY")
 
-  install(
-    TARGETS ${PROJECT_NAME}${target_suffix}
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin
-  )
-endmacro()
-
-call_for_each_rmw_implementation(target GENERATE_DEFAULT)
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
 
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl)
@@ -94,6 +86,8 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
+  find_package(rmw_implementation_cmake REQUIRED)
+
   ament_add_gtest(test_function_traits test/test_function_traits.cpp)
   if(TARGET test_function_traits)
     target_include_directories(test_function_traits PUBLIC
diff --git a/rclcpp/cmake/get_rclcpp_information.cmake b/rclcpp/cmake/get_rclcpp_information.cmake
deleted file mode 100644
index 0eb00ad..0000000
--- a/rclcpp/cmake/get_rclcpp_information.cmake
+++ /dev/null
@@ -1,93 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-#
-# Get all information about rclcpp for a specific RMW implementation.
-#
-# It sets the common variables _DEFINITIONS, _INCLUDE_DIRS and _LIBRARIES
-# with the given prefix.
-#
-# :param rmw_implementation: the RMW implementation name
-# :type rmw_implementation: string
-# :param var_prefix: the prefix of all output variable names
-# :type var_prefix: string
-#
-macro(get_rclcpp_information rmw_implementation var_prefix)
-  # pretend to be a "package"
-  # so that the variables can be used by various functions / macros
-  set(${var_prefix}_FOUND TRUE)
-
-  # Get rcl using the existing macro
-  if(NOT target_suffix STREQUAL "")
-    get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
-  endif()
-
-  # include directories
-  normalize_path(${var_prefix}_INCLUDE_DIRS
-    "${rclcpp_DIR}/../../../include")
-
-  # libraries
-  set(_libs)
-  # search for library relative to this CMake file
-  set(_library_target "rclcpp")
-  get_available_rmw_implementations(_rmw_impls)
-  list(LENGTH _rmw_impls _rmw_impls_length)
-  if(_rmw_impls_length GREATER 1)
-    set(_library_target "${_library_target}__${rmw_implementation}")
-  endif()
-  set(_lib "NOTFOUND")
-  find_library(
-    _lib NAMES "${_library_target}"
-    PATHS "${rclcpp_DIR}/../../../lib"
-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
-  )
-  if(NOT _lib)
-    # warn about not existing library and ignore it
-    message(WARNING "Package 'rclcpp' doesn't contain the library '${_library_target}'")
-  elseif(NOT IS_ABSOLUTE "${_lib}")
-    # the found library must be an absolute path
-    message(FATAL_ERROR "Package 'rclcpp' found the library '${_library_target}' at '${_lib}' which is not an absolute path")
-  elseif(NOT EXISTS "${_lib}")
-    # the found library must exist
-    message(FATAL_ERROR "Package 'rclcpp' found the library '${_lib}' which doesn't exist")
-  else()
-    list(APPEND _libs "${_lib}")
-  endif()
-
-  # dependencies
-  set(_exported_dependencies
-    "rcl_interfaces"
-    "rcl${target_suffix}"
-    "rosidl_generator_cpp"
-    "rosidl_typesupport_cpp")
-  set(${var_prefix}_DEFINITIONS)
-  foreach(_dep ${_exported_dependencies})
-    if(NOT ${_dep}_FOUND)
-      find_package("${_dep}" QUIET REQUIRED)
-    endif()
-    if(${_dep}_DEFINITIONS)
-      list_append_unique(${var_prefix}_DEFINITIONS "${${_dep}_DEFINITIONS}")
-    endif()
-    if(${_dep}_INCLUDE_DIRS)
-      list_append_unique(${var_prefix}_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
-    endif()
-    if(${_dep}_LIBRARIES)
-      list(APPEND _libs "${${_dep}_LIBRARIES}")
-    endif()
-  endforeach()
-  if(_libs)
-    ament_libraries_deduplicate(_libs "${_libs}")
-  endif()
-  set(${var_prefix}_LIBRARIES "${_libs}")
-endmacro()
diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 9e66502..5f03209 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -12,7 +12,6 @@
   <build_export_depend>rmw</build_export_depend>
 
   <build_depend>rcl_interfaces</build_depend>
-  <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>rosidl_generator_cpp</build_depend>
   <build_depend>rosidl_typesupport_c</build_depend>
   <build_depend>rosidl_typesupport_cpp</build_depend>
@@ -30,6 +29,7 @@
   <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>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rclcpp/rclcpp-extras.cmake b/rclcpp/rclcpp-extras.cmake
index facb37c..7d3a142 100644
--- a/rclcpp/rclcpp-extras.cmake
+++ b/rclcpp/rclcpp-extras.cmake
@@ -25,6 +25,5 @@ macro(_rclcpp_register_package_hook)
   endif()
 endmacro()
 
-include("${rclcpp_DIR}/get_rclcpp_information.cmake")
 include("${rclcpp_DIR}/rclcpp_create_node_main.cmake")
 include("${rclcpp_DIR}/rclcpp_register_node_plugins.cmake")
diff --git a/rclcpp_lifecycle/CMakeLists.txt b/rclcpp_lifecycle/CMakeLists.txt
index c013416..234d5ff 100644
--- a/rclcpp_lifecycle/CMakeLists.txt
+++ b/rclcpp_lifecycle/CMakeLists.txt
@@ -10,41 +10,33 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcl_lifecycle REQUIRED)
-find_package(rmw_implementation_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 
 include_directories(include)
 
-macro(targets)
-  get_rclcpp_information("${rmw_implementation}" "rclcpp${target_suffix}")
-  get_rcl_lifecycle_information("${rmw_implementation}" "rcl_lifecycle${target_suffix}")
+### CPP High level library
+add_library(rclcpp_lifecycle
+  SHARED
+  src/lifecycle_node.cpp
+  src/node_interfaces/lifecycle_node_interface.cpp
+  src/state.cpp
+  src/transition.cpp
+)
+ament_target_dependencies(rclcpp_lifecycle
+  "lifecycle_msgs"
+  "rcl_lifecycle"
+  "rclcpp")
 
-  ### CPP High level library
-  add_library(rclcpp_lifecycle${target_suffix}
-    SHARED
-    src/lifecycle_node.cpp
-    src/node_interfaces/lifecycle_node_interface.cpp
-    src/state.cpp
-    src/transition.cpp
-  )
-  ament_target_dependencies(rclcpp_lifecycle${target_suffix}
-    "lifecycle_msgs"
-    "rcl_lifecycle${target_suffix}"
-    "rclcpp${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(rclcpp_lifecycle PRIVATE "RCLCPP_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(rclcpp_lifecycle${target_suffix} PRIVATE "RCLCPP_LIFECYCLE_BUILDING_DLL")
-
-  install(TARGETS
-    rclcpp_lifecycle${target_suffix}
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin)
-endmacro()
-
-call_for_each_rmw_implementation(targets GENERATE_DEFAULT)
+install(TARGETS
+  rclcpp_lifecycle
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/rclcpp_lifecycle/package.xml b/rclcpp_lifecycle/package.xml
index 7eea88c..ebb1858 100644
--- a/rclcpp_lifecycle/package.xml
+++ b/rclcpp_lifecycle/package.xml
@@ -13,7 +13,6 @@
   <build_depend>rclcpp</build_depend>
   <build_depend>rcl_lifecycle</build_depend>
   <build_depend>rmw_implementation</build_depend>
-  <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>rosidl_default_generators</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>lifecycle_msgs</build_depend>