diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 6420d7a..603e6b0 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcpputils REQUIRED)
+find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
 find_package(rosidl_generator_cpp REQUIRED)
@@ -112,6 +113,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "rcl"
   "rcl_yaml_param_parser"
   "rcpputils"
+  "rcutils"
   "builtin_interfaces"
   "rosgraph_msgs"
   "rosidl_typesupport_cpp"
@@ -138,6 +140,7 @@ ament_export_libraries(${PROJECT_NAME})
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl)
 ament_export_dependencies(rcpputils)
+ament_export_dependencies(rcutils)
 ament_export_dependencies(builtin_interfaces)
 ament_export_dependencies(rosgraph_msgs)
 ament_export_dependencies(rosidl_typesupport_cpp)
diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 6c268ba..2ebb8f7 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -25,6 +25,7 @@
   <depend>rcl</depend>
   <depend>rcl_yaml_param_parser</depend>
   <depend>rcpputils</depend>
+  <depend>rcutils</depend>
   <depend>rmw</depend>
   <depend>tracetools</depend>
 
diff --git a/rclcpp/src/rclcpp/signal_handler.cpp b/rclcpp/src/rclcpp/signal_handler.cpp
index dbdc1ae..44ed628 100644
--- a/rclcpp/src/rclcpp/signal_handler.cpp
+++ b/rclcpp/src/rclcpp/signal_handler.cpp
@@ -30,6 +30,7 @@
 #endif
 
 #include "rclcpp/logging.hpp"
+#include "rcutils/strerror.h"
 #include "rmw/impl/cpp/demangle.hpp"
 
 using rclcpp::SignalHandler;
@@ -159,28 +160,6 @@ SignalHandler::~SignalHandler()
   }
 }
 
-RCLCPP_LOCAL
-void
-__safe_strerror(int errnum, char * buffer, size_t buffer_length)
-{
-#if defined(_WIN32)
-  strerror_s(buffer, buffer_length, errnum);
-#elif defined(_GNU_SOURCE) && (!defined(ANDROID) || __ANDROID_API__ >= 23)
-  /* GNU-specific */
-  char * msg = strerror_r(errnum, buffer, buffer_length);
-  if (msg != buffer) {
-    strncpy(buffer, msg, buffer_length);
-    buffer[buffer_length - 1] = '\0';
-  }
-#else
-  /* XSI-compliant */
-  int error_status = strerror_r(errnum, buffer, buffer_length);
-  if (error_status != 0) {
-    throw std::runtime_error("Failed to get error string for errno: " + std::to_string(errnum));
-  }
-#endif
-}
-
 SignalHandler::signal_handler_type
 SignalHandler::set_signal_handler(
   int signal_value,
@@ -197,7 +176,7 @@ SignalHandler::set_signal_handler(
 #endif
   if (signal_handler_install_failed) {
     char error_string[1024];
-    __safe_strerror(errno, error_string, sizeof(error_string));
+    rcutils_strerror(error_string, sizeof(error_string));
     auto msg =
       "Failed to set SIGINT signal handler (" + std::to_string(errno) + "): " + error_string;
     throw std::runtime_error(msg);
diff --git a/rclcpp/test/test_logging.cpp b/rclcpp/test/test_logging.cpp
index cc8bd62..87e93f9 100644
--- a/rclcpp/test/test_logging.cpp
+++ b/rclcpp/test/test_logging.cpp
@@ -205,9 +205,9 @@ TEST_F(TestLoggingMacros, test_throttle) {
   RCLCPP_DEBUG_SKIPFIRST_THROTTLE(g_logger, steady_clock, 1, "Skip first throttling");
   EXPECT_EQ(1u, g_log_calls);
   for (uint64_t i = 0; i < 6; ++i) {
-    RCLCPP_DEBUG_THROTTLE(g_logger, steady_clock, 10, "Throttling");
-    RCLCPP_DEBUG_SKIPFIRST_THROTTLE(g_logger, steady_clock, 40, "Throttling");
-    std::this_thread::sleep_for(5ms);
+    RCLCPP_DEBUG_THROTTLE(g_logger, steady_clock, 100, "Throttling");
+    RCLCPP_DEBUG_SKIPFIRST_THROTTLE(g_logger, steady_clock, 400, "Throttling");
+    std::this_thread::sleep_for(50ms);
   }
   EXPECT_EQ(4u, g_log_calls);
   rclcpp::Clock ros_clock(RCL_ROS_TIME);