diff --git a/rosidl_runtime_c/QUALITY_DECLARATION.md b/rosidl_runtime_c/QUALITY_DECLARATION.md
index 61eed4f64..3cab8efa6 100644
--- a/rosidl_runtime_c/QUALITY_DECLARATION.md
+++ b/rosidl_runtime_c/QUALITY_DECLARATION.md
@@ -2,7 +2,7 @@ This document is a declaration of software quality for the `rosidl_runtime_c` pa
 
 # rosidl_runtime_c Quality Declaration
 
-The package `rosidl_runtime_c` claims to be in the **Quality Level 2** category.
+The package `rosidl_runtime_c` claims to be in the **Quality Level 1** category.
 
 Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 2 in REP-2004](https://www.ros.org/reps/rep-2004.html).
 
@@ -116,7 +116,8 @@ A description of how coverage statistics are summarized from this page, can be f
 
 ### Performance [4.iv]
 
-`rosidl_runtime_c` does not currently have performance tests.
+Most of the features provided by this package are declarations of types and functions, and therefore do not require testing.
+The BoundedVector class is benchmarked and the most recent test results can be found [here](http://build.ros2.org/view/Rci/job/Rci__benchmark_ubuntu_focal_amd64/BenchmarkTable/).
 
 ### Linters and Static Analysis [4.v]
 
@@ -137,7 +138,7 @@ It also has several test dependencies, which do not affect the resulting quality
 
 The `rosidl_typesupport_interface` package provides several macros to define the rosidl C typesupport interface.
 
-It is **Quality Level 2**, see its [Quality Declaration document](../rosidl_typesupport_interface/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](../rosidl_typesupport_interface/QUALITY_DECLARATION.md).
 
 ### Direct Runtime Non-ROS Dependencies [5.iii]
 
diff --git a/rosidl_runtime_c/README.md b/rosidl_runtime_c/README.md
index 6756a9d8a..4e808025f 100644
--- a/rosidl_runtime_c/README.md
+++ b/rosidl_runtime_c/README.md
@@ -8,4 +8,4 @@ A list of features provided by `rosidl_runtime_c` is available in its [feature d
 
 ## Quality Declaration
 
-This package claims to be in the **Quality Level 2** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.
+This package claims to be in the **Quality Level 1** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.
diff --git a/rosidl_runtime_cpp/QUALITY_DECLARATION.md b/rosidl_runtime_cpp/QUALITY_DECLARATION.md
index 56f0c3174..3d28f6cc2 100644
--- a/rosidl_runtime_cpp/QUALITY_DECLARATION.md
+++ b/rosidl_runtime_cpp/QUALITY_DECLARATION.md
@@ -2,7 +2,7 @@ This document is a declaration of software quality for the `rosidl_runtime_cpp`
 
 # rosidl_runtime_cpp Quality Declaration
 
-The package `rosidl_runtime_cpp` claims to be in the **Quality Level 2** category.
+The package `rosidl_runtime_cpp` claims to be in the **Quality Level 1** category.
 
 Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 4 in REP-2004](https://www.ros.org/reps/rep-2004.html).
 
@@ -114,7 +114,8 @@ A summary of how these statistics are calculated can be found in the [ROS 2 On-b
 
 ### Performance [4.iv]
 
-`rosidl_runtime_cpp` does not currently have performance tests.
+Most of the features provided by this package are declarations of types and functions, and therefore do not require testing.
+The BoundedVector class is benchmarked and the most recent test results can be found [here](http://build.ros2.org/view/Rci/job/Rci__benchmark_ubuntu_focal_amd64/BenchmarkTable/).
 
 ### Linters and Static Analysis [4.v]
 
diff --git a/rosidl_runtime_cpp/README.md b/rosidl_runtime_cpp/README.md
index e9938d37e..d82951410 100644
--- a/rosidl_runtime_cpp/README.md
+++ b/rosidl_runtime_cpp/README.md
@@ -8,4 +8,4 @@ The features provided by `rosidl_runtime_cpp` are documented in its [feature doc
 
 ## Quality Declaration
 
-This package claims to be in the **Quality Level 2** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.
+This package claims to be in the **Quality Level 1** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.