diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 45b9e1c15..d12efcc0f 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -162,13 +162,6 @@ function(test_target_function)
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
-  # TODO remove this once connext declares libdl dependency in libnddscore again
-  # See https://github.com/ros2/rcl/issues/52
-  if(rmw_implementation STREQUAL "rmw_connext_cpp")
-    connext_workaround(client_fixture${target_suffix})
-    connext_workaround(service_fixture${target_suffix})
-  endif()
-
   rcl_add_custom_launch_test(test_services
     service_fixture
     client_fixture
@@ -208,17 +201,6 @@ function(test_target_function)
 
 endfunction()
 
-macro(connext_workaround target)
-  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    get_target_property(_current_link_flags ${target} LINK_FLAGS)
-    set(_link_flags "-Wl,--no-as-needed")
-    if(_current_link_flags)
-      set(_link_flags ${_current_link_flags} ${_link_flags})
-    endif()
-    set_target_properties(${target} PROPERTIES LINK_FLAGS "${_link_flags}")
-  endif()
-endmacro()
-
 # Build simple executable for using in the test_rmw_impl_id_check
 add_executable(test_rmw_impl_id_check_exe
   rcl/test_rmw_impl_id_check_exe.cpp)