diff --git a/rosidl_typesupport_c/package.xml b/rosidl_typesupport_c/package.xml
index fa8e7776..294683c2 100644
--- a/rosidl_typesupport_c/package.xml
+++ b/rosidl_typesupport_c/package.xml
@@ -22,7 +22,6 @@
   <!-- end of group rosidl_typesupport_c_packages for bloom -->
 
   <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
-  <build_export_depend>rmw_implementation</build_export_depend>
   <build_export_depend>rosidl_generator_c</build_export_depend>
 
   <exec_depend>libpoco-dev</exec_depend>
diff --git a/rosidl_typesupport_cpp/package.xml b/rosidl_typesupport_cpp/package.xml
index 360cc661..ae4cf69d 100644
--- a/rosidl_typesupport_cpp/package.xml
+++ b/rosidl_typesupport_cpp/package.xml
@@ -22,7 +22,6 @@
   <!-- end of group rosidl_typesupport_cpp_packages for bloom -->
 
   <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
-  <build_export_depend>rmw_implementation</build_export_depend>
   <build_export_depend>rosidl_generator_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_c</build_export_depend>