diff --git a/cyclonedds_cmake_module/CHANGELOG.rst b/cyclonedds_cmake_module/CHANGELOG.rst
deleted file mode 100644
index 07c8690..0000000
--- a/cyclonedds_cmake_module/CHANGELOG.rst
+++ /dev/null
@@ -1,27 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package cyclonedds_cmake_module
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-0.5.1 (2020-03-12)
-------------------
-
-0.4.4 (2019-11-19)
-------------------
-
-0.4.3 (2019-11-13)
-------------------
-
-0.4.2 (2019-11-01)
-------------------
-
-0.4.1 (2019-10-24)
-------------------
-* Use rosdep (`#32 <https://github.com/ros2/rmw_cyclonedds/issues/32>`_)
-* Contributors: Dan Rose
-
-0.4.0 (2019-08-29)
-------------------
-* Ensure all packages in the repository have the same version
-  Signed-off-by: Scott K Logan <logans@cottsay.net>
-* remove Fast-CDR references in CMake config
-* initial commit
-* Contributors: Erik Boasson, Scott K Logan
diff --git a/cyclonedds_cmake_module/CMakeLists.txt b/cyclonedds_cmake_module/CMakeLists.txt
deleted file mode 100644
index 9653361..0000000
--- a/cyclonedds_cmake_module/CMakeLists.txt
+++ /dev/null
@@ -1,31 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# 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.
-
-cmake_minimum_required(VERSION 3.5)
-
-project(cyclonedds_cmake_module)
-
-find_package(ament_cmake REQUIRED)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package(
-  CONFIG_EXTRAS "cyclonedds_cmake_module-extras.cmake"
-)
-
-install(DIRECTORY cmake
-  DESTINATION share/${PROJECT_NAME})
diff --git a/cyclonedds_cmake_module/cmake/Modules/FindCycloneDDS.cmake b/cyclonedds_cmake_module/cmake/Modules/FindCycloneDDS.cmake
deleted file mode 100644
index 79c655e..0000000
--- a/cyclonedds_cmake_module/cmake/Modules/FindCycloneDDS.cmake
+++ /dev/null
@@ -1,70 +0,0 @@
-# Copyright 2018 ADLINK Technology Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-###############################################################################
-#
-# CMake module for finding Eclipse Cyclone DDS.
-#
-# Output variables:
-#
-# - CycloneDDS_FOUND: flag indicating if the package was found
-# - CycloneDDS_INCLUDE_DIR: Paths to the header files
-#
-# Example usage:
-#
-#   find_package(CycloneDDS_cmake_module REQUIRED)
-#   find_package(CycloneDDS MODULE)
-#   # use CycloneDDS_* variables
-#
-###############################################################################
-
-# lint_cmake: -convention/filename, -package/stdargs
-
-set(CycloneDDS_FOUND FALSE)
-
-find_package(CycloneDDS REQUIRED CONFIG)
-
-#find_library(CycloneDDS_LIBRARY_RELEASE
-#  NAMES cyclonedds-${cyclonedds_MAJOR_MINOR_VERSION} cyclonedds)
-find_library(CycloneDDS_LIBRARY_RELEASE
-  NAMES cdds cdds)
-#find_library(CycloneDDS_LIBRARY_DEBUG
-#  NAMES cycloneddsd-${cyclonedds_MAJOR_MINOR_VERSION})
-
-set(CycloneDDS_INCLUDE_DIR get_target_property(VAR CycloneDDS::ddsc INTERFACE_INCLUDE_DIRECTORIES))
-
-if(CycloneDDS_LIBRARY_RELEASE AND CycloneDDS_LIBRARY_DEBUG)
-  set(CycloneDDS_LIBRARIES
-    optimized ${CycloneDDS_LIBRARY_RELEASE}
-    debug ${CycloneDDS_LIBRARY_DEBUG}
-  )
-elseif(CycloneDDS_LIBRARY_RELEASE)
-  set(CycloneDDS_LIBRARIES
-    ${CycloneDDS_LIBRARY_RELEASE}
-  )
-elseif(CycloneDDS_LIBRARY_DEBUG)
-  set(CycloneDDS_LIBRARIES
-    ${CycloneDDS_LIBRARY_DEBUG}
-  )
-else()
-  set(CycloneDDS_LIBRARIES "")
-endif()
-
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(CycloneDDS
-  FOUND_VAR CycloneDDS_FOUND
-  REQUIRED_VARS
-    CycloneDDS_INCLUDE_DIR
-    CycloneDDS_LIBRARIES
-)
diff --git a/cyclonedds_cmake_module/cyclonedds_cmake_module-extras.cmake b/cyclonedds_cmake_module/cyclonedds_cmake_module-extras.cmake
deleted file mode 100644
index a96253b..0000000
--- a/cyclonedds_cmake_module/cyclonedds_cmake_module-extras.cmake
+++ /dev/null
@@ -1,15 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-list(INSERT CMAKE_MODULE_PATH 0 "${cyclonedds_cmake_module_DIR}/Modules")
diff --git a/cyclonedds_cmake_module/package.xml b/cyclonedds_cmake_module/package.xml
deleted file mode 100644
index 11f9c40..0000000
--- a/cyclonedds_cmake_module/package.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
-  <name>cyclonedds_cmake_module</name>
-  <version>0.5.1</version>
-  <description>Provide CMake module to find Eclipse CycloneDDS.</description>
-  <maintainer email="erik.boasson@adlinktech.com">Erik Boasson</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/rmw_cyclonedds_cpp/CMakeLists.txt b/rmw_cyclonedds_cpp/CMakeLists.txt
index cffd7f7..f621a9b 100644
--- a/rmw_cyclonedds_cpp/CMakeLists.txt
+++ b/rmw_cyclonedds_cpp/CMakeLists.txt
@@ -29,7 +29,7 @@ find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcutils REQUIRED)
 
-find_package(cyclonedds_cmake_module REQUIRED)
+#find_package(cyclonedds_cmake_module REQUIRED)
 find_package(CycloneDDS QUIET CONFIG)
 if(NOT CycloneDDS_FOUND)
   message(WARNING "Could not find Eclipse Cyclone DDS - skipping '${PROJECT_NAME}'")
diff --git a/rmw_cyclonedds_cpp/package.xml b/rmw_cyclonedds_cpp/package.xml
index 2fdca0d..0308fb8 100644
--- a/rmw_cyclonedds_cpp/package.xml
+++ b/rmw_cyclonedds_cpp/package.xml
@@ -8,10 +8,8 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
-  <buildtool_depend>cyclonedds_cmake_module</buildtool_depend>
 
   <depend>cyclonedds</depend>
-  <depend>cyclonedds_cmake_module</depend>
   <depend>rcutils</depend>
   <depend>rmw</depend>
   <depend>rosidl_generator_c</depend>