diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index 6b84077155..c19b371456 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -6,7 +6,7 @@ find_package(ament_cmake_ros REQUIRED)
find_package(action_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rcl_action REQUIRED)
-find_package(rosidl_generator_cpp REQUIRED)
+find_package(rosidl_generator_c REQUIRED)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
@@ -34,7 +34,7 @@ ament_target_dependencies(${PROJECT_NAME}
"rcl_action"
"rclcpp"
"rosidl_generator_c"
- "rosidl_generator_cpp")
+)
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
@@ -61,7 +61,6 @@ ament_export_dependencies(action_msgs)
ament_export_dependencies(rclcpp)
ament_export_dependencies(rcl_action)
ament_export_dependencies(rosidl_generator_c)
-ament_export_dependencies(rosidl_generator_cpp)
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
diff --git a/rclcpp_action/package.xml b/rclcpp_action/package.xml
index 199d6b1371..faebb55003 100644
--- a/rclcpp_action/package.xml
+++ b/rclcpp_action/package.xml
@@ -9,11 +9,9 @@
ament_cmake_ros
- rosidl_generator_cpp
rosidl_generator_c
rosidl_generator_c
- rosidl_generator_cpp
action_msgs
rclcpp