diff --git a/rcl/package.xml b/rcl/package.xml
index 6d8861dc1..5f6d86c65 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -40,7 +40,6 @@
   <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>mimick_vendor</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
-  <test_depend>rcpputils</test_depend>
   <test_depend>rmw</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>rosidl_runtime_cpp</test_depend>
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 27d7dfbeb..22d1aded4 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -3,7 +3,6 @@ find_package(ament_cmake_gtest REQUIRED)
 find_package(launch_testing_ament_cmake REQUIRED)
 find_package(mimick_vendor REQUIRED)
 find_package(osrf_testing_tools_cpp REQUIRED)
-find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 find_package(rosidl_runtime_cpp REQUIRED)
@@ -189,7 +188,6 @@ function(test_target_function)
     LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers
     AMENT_DEPENDENCIES ${rmw_implementation}
       "osrf_testing_tools_cpp"
-      "rcpputils"
       "rcutils"
       "rosidl_runtime_c"
       "test_msgs"
@@ -394,7 +392,7 @@ rcl_add_custom_gtest(test_arguments
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
   INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
   LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
-  AMENT_DEPENDENCIES "osrf_testing_tools_cpp" "rcpputils"
+  AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
 )
 
 rcl_add_custom_gtest(test_time
diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index e77f0bb3d..bb493743a 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -13,12 +13,12 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
+#include <filesystem>
 #include <sstream>
 #include <string>
 #include <vector>
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
-#include "rcpputils/filesystem_helper.hpp"
 
 #include "rcl/rcl.h"
 #include "rcl/arguments.h"
@@ -44,7 +44,7 @@ class TestArgumentsFixture : public ::testing::Test
   }
 
 protected:
-  rcpputils::fs::path test_path{TEST_RESOURCES_DIRECTORY};
+  std::filesystem::path test_path{TEST_RESOURCES_DIRECTORY};
 };
 
 #define EXPECT_UNPARSED(parsed_args, ...) \
diff --git a/rcl/test/rcl/test_publisher_wait_all_ack.cpp b/rcl/test/rcl/test_publisher_wait_all_ack.cpp
index c931c09aa..6371eb4d0 100644
--- a/rcl/test/rcl/test_publisher_wait_all_ack.cpp
+++ b/rcl/test/rcl/test_publisher_wait_all_ack.cpp
@@ -14,14 +14,14 @@
 
 #include <gtest/gtest.h>
 
-#include <thread>
 #include <chrono>
+#include <filesystem>
 #include <string>
+#include <thread>
 
 #include "rcl/allocator.h"
 #include "rcl/publisher.h"
 #include "rcl/subscription.h"
-#include "rcpputils/filesystem_helper.hpp"
 #include "rcutils/env.h"
 
 #include "rcl/rcl.h"
@@ -58,7 +58,7 @@ class CLASSNAME (TestPublisherFixtureSpecial, RMW_IMPLEMENTATION) : public ::tes
       // By default, fastdds use intraprocess mode in this scenario. But this leads to high-speed
       // data transmission. test_wait_for_all_acked need low data transmission. So disable this
       // mode via fastdds profile file.
-      rcpputils::fs::path fastdds_profile(TEST_RESOURCES_DIRECTORY);
+      std::filesystem::path fastdds_profile(TEST_RESOURCES_DIRECTORY);
       fastdds_profile /= "test_profile/disable_intraprocess.xml";
       ASSERT_EQ(
         rcutils_set_env("FASTRTPS_DEFAULT_PROFILES_FILE", fastdds_profile.string().c_str()),
diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
index a5082ad1e..2315a6432 100644
--- a/rcl_yaml_param_parser/CMakeLists.txt
+++ b/rcl_yaml_param_parser/CMakeLists.txt
@@ -186,7 +186,6 @@ if(BUILD_TESTING)
     target_link_libraries(benchmark_parse_yaml
       ${PROJECT_NAME}
       performance_test_fixture::performance_test_fixture
-      rcpputils::rcpputils
       rcutils::rcutils
     )
   endif()
diff --git a/rcl_yaml_param_parser/package.xml b/rcl_yaml_param_parser/package.xml
index 8bf1c24c2..0b1d863b1 100644
--- a/rcl_yaml_param_parser/package.xml
+++ b/rcl_yaml_param_parser/package.xml
@@ -27,7 +27,6 @@
   <test_depend>mimick_vendor</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
   <test_depend>performance_test_fixture</test_depend>
-  <test_depend>rcpputils</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rcl_yaml_param_parser/test/benchmark/benchmark_parse_yaml.cpp b/rcl_yaml_param_parser/test/benchmark/benchmark_parse_yaml.cpp
index 4222b9fd5..377163e2a 100644
--- a/rcl_yaml_param_parser/test/benchmark/benchmark_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/benchmark/benchmark_parse_yaml.cpp
@@ -12,14 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <filesystem>
 #include <string>
 
 #include "performance_test_fixture/performance_test_fixture.hpp"
 
 #include "rcl_yaml_param_parser/parser.h"
 
-#include "rcpputils/filesystem_helper.hpp"
-
 #include "rcutils/allocator.h"
 #include "rcutils/error_handling.h"
 
@@ -28,7 +27,7 @@ using performance_test_fixture::PerformanceTest;
 BENCHMARK_F(PerformanceTest, parser_yaml_param)(benchmark::State & st)
 {
   std::string path =
-    (rcpputils::fs::current_path() / "test" / "benchmark" / "benchmark_params.yaml").string();
+    (std::filesystem::current_path() / "test" / "benchmark" / "benchmark_params.yaml").string();
   reset_heap_counters();
   for (auto _ : st) {
     RCUTILS_UNUSED(_);