diff --git a/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake b/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake
index 24bd132..75c02e7 100644
--- a/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake
+++ b/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake
@@ -19,7 +19,6 @@ if(NOT TARGET ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c)
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
-find_package(fastrtps_cmake_module QUIET)
 find_package(fastcdr 2 REQUIRED CONFIG)
 find_package(rosidl_typesupport_interface REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
@@ -188,7 +187,6 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
     RUNTIME DESTINATION bin
   )
 
-  ament_export_dependencies(fastrtps_cmake_module)
   ament_export_dependencies(fastcdr)
   ament_export_dependencies(rosidl_runtime_c)
   ament_export_dependencies(rosidl_runtime_cpp)
diff --git a/rosidl_typesupport_fastrtps_c/package.xml b/rosidl_typesupport_fastrtps_c/package.xml
index 2474f96..9d7b43f 100644
--- a/rosidl_typesupport_fastrtps_c/package.xml
+++ b/rosidl_typesupport_fastrtps_c/package.xml
@@ -19,7 +19,6 @@
 
   <!-- Used in the projectConfig.cmake or generator extension and only needed by CMake -->
   <buildtool_export_depend>ament_cmake_ros</buildtool_export_depend>
-  <buildtool_export_depend>fastrtps_cmake_module</buildtool_export_depend>
   <buildtool_export_depend>python3</buildtool_export_depend>
 
   <!-- Generator depends on output of this other generator -->
diff --git a/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in b/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in
index bf4ff53..355fe0a 100644
--- a/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in
+++ b/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in
@@ -1,7 +1,6 @@
 # generated from
 # rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in
 
-find_package(fastrtps_cmake_module QUIET)
 find_package(fastcdr 2 REQUIRED CONFIG)
 
 if(NOT fastcdr_FOUND)
diff --git a/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt b/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt
index 6d0f636..bc2e688 100644
--- a/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt
+++ b/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt
@@ -22,13 +22,7 @@ endif()
 
 find_package(ament_cmake_ros REQUIRED)
 
-find_package(fastrtps_cmake_module QUIET)
 find_package(fastcdr 2 REQUIRED CONFIG)
-if(FASTRTPS_STATIC_DISABLE)
-  ament_package()
-  message(STATUS "fastrtps static rmw implementation explicitly disabled - skipping '${PROJECT_NAME}'")
-  return()
-endif()
 
 find_package(ament_cmake_python REQUIRED)
 
@@ -37,7 +31,6 @@ find_package(rosidl_runtime_c REQUIRED)
 
 ament_export_dependencies(rmw)
 ament_export_dependencies(rosidl_runtime_c)
-ament_export_dependencies(fastrtps_cmake_module)
 ament_export_dependencies(fastcdr)
 
 ament_python_install_package(${PROJECT_NAME})
diff --git a/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake b/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
index d177f51..ad1143f 100644
--- a/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
+++ b/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
@@ -19,7 +19,6 @@ if(NOT TARGET ${rosidl_generate_interfaces_TARGET}__rosidl_generator_cpp)
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
-find_package(fastrtps_cmake_module QUIET)
 find_package(fastcdr 2 REQUIRED CONFIG)
 find_package(rmw REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
@@ -207,7 +206,6 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
     RUNTIME DESTINATION bin
   )
 
-  ament_export_dependencies(fastrtps_cmake_module)
   ament_export_dependencies(fastcdr)
   ament_export_dependencies(rmw)
   ament_export_dependencies(rosidl_runtime_c)
diff --git a/rosidl_typesupport_fastrtps_cpp/package.xml b/rosidl_typesupport_fastrtps_cpp/package.xml
index b8c1ae0..d8caebb 100644
--- a/rosidl_typesupport_fastrtps_cpp/package.xml
+++ b/rosidl_typesupport_fastrtps_cpp/package.xml
@@ -16,11 +16,9 @@
   <!-- Used in the CMakeLists.txt of this package and only needed by CMake-->
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>fastrtps_cmake_module</buildtool_depend>
 
   <!-- Used in the projectConfig.cmake or generator extension and only needed by CMake -->
   <buildtool_export_depend>ament_cmake_ros</buildtool_export_depend>
-  <buildtool_export_depend>fastrtps_cmake_module</buildtool_export_depend>
   <buildtool_export_depend>python3</buildtool_export_depend>
 
   <!-- Generator depends on output of this other generator -->
diff --git a/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in b/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in
index 260de60..24d851f 100644
--- a/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in
+++ b/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in
@@ -2,7 +2,6 @@
 # rosidl_typesupport_fastrtps_cpp/
 #   rosidl_typesupport_fastrtps_cpp-extras.cmake.in
 
-find_package(fastrtps_cmake_module QUIET)
 find_package(fastcdr 2 REQUIRED CONFIG)
 
 if(NOT fastcdr_FOUND)