diff --git a/rmw_dds_common/CMakeLists.txt b/rmw_dds_common/CMakeLists.txt
index a85bbeb..38a3a89 100644
--- a/rmw_dds_common/CMakeLists.txt
+++ b/rmw_dds_common/CMakeLists.txt
@@ -21,7 +21,6 @@ find_package(rosidl_runtime_c REQUIRED)
 
 ament_add_default_options()
 ament_export_dependencies(ament_cmake_core)
-ament_export_dependencies(rcpputils)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
 
diff --git a/rmw_dds_common/src/security.cpp b/rmw_dds_common/src/security.cpp
index d385449..701ebba 100644
--- a/rmw_dds_common/src/security.cpp
+++ b/rmw_dds_common/src/security.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <filesystem>
 #include <string>
 #include <utility>
 #include <unordered_map>
 
-#include "rcpputils/filesystem_helper.hpp"
 #include "rmw_dds_common/security.hpp"
 
 namespace rmw_dds_common
@@ -40,21 +40,21 @@ bool get_security_files(
   };
 
   for (const std::pair<const std::string, std::string> & el : required_files) {
-    rcpputils::fs::path full_path(secure_root);
+    std::filesystem::path full_path(secure_root);
     full_path /= el.second;
-    if (!full_path.is_regular_file()) {
+    if (!std::filesystem::is_regular_file(full_path)) {
       result.clear();
       return false;
     }
 
-    result[el.first] = prefix + full_path.string();
+    result[el.first] = prefix + full_path.generic_string();
   }
 
   for (const std::pair<const std::string, std::string> & el : optional_files) {
-    rcpputils::fs::path full_path(secure_root);
+    std::filesystem::path full_path(secure_root);
     full_path /= el.second;
-    if (full_path.is_regular_file()) {
-      result[el.first] = prefix + full_path.string();
+    if (std::filesystem::is_regular_file(full_path)) {
+      result[el.first] = prefix + full_path.generic_string();
     }
   }
 
diff --git a/rmw_dds_common/test/test_security.cpp b/rmw_dds_common/test/test_security.cpp
index 53b5496..e1fa36c 100644
--- a/rmw_dds_common/test/test_security.cpp
+++ b/rmw_dds_common/test/test_security.cpp
@@ -13,165 +13,165 @@
 // limitations under the License.
 
 #include <array>
+#include <filesystem>
 #include <fstream>
 #include <string>
 #include <unordered_map>
 
 #include "gtest/gtest.h"
 
-#include "rcpputils/filesystem_helper.hpp"
 #include "rmw_dds_common/security.hpp"
 
 TEST(test_security, files_exist_no_prefix)
 {
-  rcpputils::fs::path dir = rcpputils::fs::path("./test_folder");
-  rcpputils::fs::remove_all(dir);
-  EXPECT_TRUE(rcpputils::fs::create_directories(dir));
-  EXPECT_TRUE(rcpputils::fs::exists(dir));
-  EXPECT_TRUE(rcpputils::fs::is_directory(dir));
+  std::filesystem::path dir = std::filesystem::path("./test_folder");
+  std::filesystem::remove_all(dir);
+  EXPECT_TRUE(std::filesystem::create_directories(dir));
+  EXPECT_TRUE(std::filesystem::exists(dir));
+  EXPECT_TRUE(std::filesystem::is_directory(dir));
 
   std::array<std::string, 6> required_files = {
     "identity_ca.cert.pem", "cert.pem", "key.pem",
     "permissions_ca.cert.pem", "governance.p7s", "permissions.p7s"
   };
   for (const std::string & filename : required_files) {
-    rcpputils::fs::path full_path = dir / filename;
-    std::ofstream output_buffer{full_path.string()};
+    std::filesystem::path full_path = dir / filename;
+    std::ofstream output_buffer{full_path.generic_string()};
     output_buffer << "test";
-    ASSERT_TRUE(rcpputils::fs::exists(full_path));
+    ASSERT_TRUE(std::filesystem::exists(full_path));
   }
 
   std::unordered_map<std::string, std::string> security_files;
-  ASSERT_TRUE(rmw_dds_common::get_security_files("", dir.string(), security_files));
+  ASSERT_TRUE(rmw_dds_common::get_security_files("", dir.generic_string(), security_files));
 
   EXPECT_EQ(
     security_files["IDENTITY_CA"],
-    rcpputils::fs::path("./test_folder/identity_ca.cert.pem").string());
+    std::filesystem::path("./test_folder/identity_ca.cert.pem").generic_string());
   EXPECT_EQ(
     security_files["CERTIFICATE"],
-    rcpputils::fs::path("./test_folder/cert.pem").string());
+    std::filesystem::path("./test_folder/cert.pem").generic_string());
   EXPECT_EQ(
     security_files["PRIVATE_KEY"],
-    rcpputils::fs::path("./test_folder/key.pem").string());
+    std::filesystem::path("./test_folder/key.pem").generic_string());
   EXPECT_EQ(
     security_files["PERMISSIONS_CA"],
-    rcpputils::fs::path("./test_folder/permissions_ca.cert.pem").string());
+    std::filesystem::path("./test_folder/permissions_ca.cert.pem").generic_string());
   EXPECT_EQ(
     security_files["GOVERNANCE"],
-    rcpputils::fs::path("./test_folder/governance.p7s").string());
+    std::filesystem::path("./test_folder/governance.p7s").generic_string());
   EXPECT_EQ(
     security_files["PERMISSIONS"],
-    rcpputils::fs::path("./test_folder/permissions.p7s").string());
+    std::filesystem::path("./test_folder/permissions.p7s").generic_string());
 }
 
 TEST(test_security, files_exist_with_prefix)
 {
-  rcpputils::fs::path dir = rcpputils::fs::path("./test_folder");
-  rcpputils::fs::remove_all(dir);
-  EXPECT_TRUE(rcpputils::fs::create_directories(dir));
-  EXPECT_TRUE(rcpputils::fs::exists(dir));
-  EXPECT_TRUE(rcpputils::fs::is_directory(dir));
+  std::filesystem::path dir = std::filesystem::path("./test_folder");
+  std::filesystem::remove_all(dir);
+  EXPECT_TRUE(std::filesystem::create_directories(dir));
+  EXPECT_TRUE(std::filesystem::exists(dir));
+  EXPECT_TRUE(std::filesystem::is_directory(dir));
 
   std::array<std::string, 6> required_files = {
     "identity_ca.cert.pem", "cert.pem", "key.pem",
     "permissions_ca.cert.pem", "governance.p7s", "permissions.p7s"
   };
   for (const std::string & filename : required_files) {
-    rcpputils::fs::path full_path = dir / filename;
-    std::ofstream output_buffer{full_path.string()};
+    std::filesystem::path full_path = dir / filename;
+    std::ofstream output_buffer{full_path.generic_string()};
     output_buffer << "test";
-    ASSERT_TRUE(rcpputils::fs::exists(full_path));
+    ASSERT_TRUE(std::filesystem::exists(full_path));
   }
 
   std::unordered_map<std::string, std::string> security_files;
-  ASSERT_TRUE(rmw_dds_common::get_security_files("file://", dir.string(), security_files));
+  ASSERT_TRUE(rmw_dds_common::get_security_files("file://", dir.generic_string(), security_files));
 
   EXPECT_EQ(
     security_files["IDENTITY_CA"],
-    "file://" + rcpputils::fs::path("./test_folder/identity_ca.cert.pem").string());
+    "file://" + std::filesystem::path("./test_folder/identity_ca.cert.pem").generic_string());
   EXPECT_EQ(
     security_files["CERTIFICATE"],
-    "file://" + rcpputils::fs::path("./test_folder/cert.pem").string());
+    "file://" + std::filesystem::path("./test_folder/cert.pem").generic_string());
   EXPECT_EQ(
     security_files["PRIVATE_KEY"],
-    "file://" + rcpputils::fs::path("./test_folder/key.pem").string());
+    "file://" + std::filesystem::path("./test_folder/key.pem").generic_string());
   EXPECT_EQ(
     security_files["PERMISSIONS_CA"],
-    "file://" + rcpputils::fs::path("./test_folder/permissions_ca.cert.pem").string());
+    "file://" + std::filesystem::path("./test_folder/permissions_ca.cert.pem").generic_string());
   EXPECT_EQ(
     security_files["GOVERNANCE"],
-    "file://" + rcpputils::fs::path("./test_folder/governance.p7s").string());
+    "file://" + std::filesystem::path("./test_folder/governance.p7s").generic_string());
   EXPECT_EQ(
     security_files["PERMISSIONS"],
-    "file://" + rcpputils::fs::path("./test_folder/permissions.p7s").string());
+    "file://" + std::filesystem::path("./test_folder/permissions.p7s").generic_string());
 }
 
 TEST(test_security, file_missing)
 {
-  rcpputils::fs::path dir = rcpputils::fs::path("./test_folder");
-  rcpputils::fs::remove_all(dir);
-  EXPECT_TRUE(rcpputils::fs::create_directories(dir));
-  EXPECT_TRUE(rcpputils::fs::exists(dir));
-  EXPECT_TRUE(rcpputils::fs::is_directory(dir));
+  std::filesystem::path dir = std::filesystem::path("./test_folder");
+  std::filesystem::remove_all(dir);
+  EXPECT_TRUE(std::filesystem::create_directories(dir));
+  EXPECT_TRUE(std::filesystem::exists(dir));
+  EXPECT_TRUE(std::filesystem::is_directory(dir));
 
   std::array<std::string, 5> required_files = {
     "identity_ca.cert.pem", "cert.pem", "key.pem",
     "permissions_ca.cert.pem", "governance.p7s"
   };
   for (const std::string & filename : required_files) {
-    rcpputils::fs::path full_path = dir / filename;
-    std::ofstream output_buffer{full_path.string()};
+    std::filesystem::path full_path = dir / filename;
+    std::ofstream output_buffer{full_path.generic_string()};
     output_buffer << "test";
-    ASSERT_TRUE(rcpputils::fs::exists(full_path));
+    ASSERT_TRUE(std::filesystem::exists(full_path));
   }
 
   std::unordered_map<std::string, std::string> security_files;
-  ASSERT_FALSE(rmw_dds_common::get_security_files("", dir.string(), security_files));
+  ASSERT_FALSE(rmw_dds_common::get_security_files("", dir.generic_string(), security_files));
   ASSERT_EQ(security_files.size(), 0UL);
 }
 
 TEST(test_security, optional_file_exist)
 {
-  rcpputils::fs::path dir = rcpputils::fs::path("./test_folder");
-  rcpputils::fs::remove_all(dir);
-  EXPECT_TRUE(rcpputils::fs::create_directories(dir));
-  EXPECT_TRUE(rcpputils::fs::exists(dir));
-  EXPECT_TRUE(rcpputils::fs::is_directory(dir));
+  std::filesystem::path dir = std::filesystem::path("./test_folder");
+  std::filesystem::remove_all(dir);
+  EXPECT_TRUE(std::filesystem::create_directories(dir));
+  EXPECT_TRUE(std::filesystem::exists(dir));
+  EXPECT_TRUE(std::filesystem::is_directory(dir));
 
   std::array<std::string, 7> required_files = {
     "identity_ca.cert.pem", "cert.pem", "key.pem",
     "permissions_ca.cert.pem", "governance.p7s", "permissions.p7s", "crl.pem",
   };
   for (const std::string & filename : required_files) {
-    rcpputils::fs::path full_path = dir / filename;
-    std::ofstream output_buffer{full_path.string()};
+    std::filesystem::path full_path = dir / filename;
+    std::ofstream output_buffer{full_path.generic_string()};
     output_buffer << "test";
-    ASSERT_TRUE(rcpputils::fs::exists(full_path));
+    ASSERT_TRUE(std::filesystem::exists(full_path));
   }
 
   std::unordered_map<std::string, std::string> security_files;
-  ASSERT_TRUE(rmw_dds_common::get_security_files("", dir.string(), security_files));
+  ASSERT_TRUE(rmw_dds_common::get_security_files("", dir.generic_string(), security_files));
 
   EXPECT_EQ(
     security_files["IDENTITY_CA"],
-    rcpputils::fs::path("./test_folder/identity_ca.cert.pem").string());
+    std::filesystem::path("./test_folder/identity_ca.cert.pem").generic_string());
   EXPECT_EQ(
     security_files["CERTIFICATE"],
-    rcpputils::fs::path("./test_folder/cert.pem").string());
+    std::filesystem::path("./test_folder/cert.pem").generic_string());
   EXPECT_EQ(
     security_files["PRIVATE_KEY"],
-    rcpputils::fs::path("./test_folder/key.pem").string());
+    std::filesystem::path("./test_folder/key.pem").generic_string());
   EXPECT_EQ(
     security_files["PERMISSIONS_CA"],
-    rcpputils::fs::path("./test_folder/permissions_ca.cert.pem").string());
+    std::filesystem::path("./test_folder/permissions_ca.cert.pem").generic_string());
   EXPECT_EQ(
     security_files["GOVERNANCE"],
-    rcpputils::fs::path("./test_folder/governance.p7s").string());
+    std::filesystem::path("./test_folder/governance.p7s").generic_string());
   EXPECT_EQ(
     security_files["PERMISSIONS"],
-    rcpputils::fs::path("./test_folder/permissions.p7s").string());
+    std::filesystem::path("./test_folder/permissions.p7s").generic_string());
 
   EXPECT_EQ(
     security_files["CRL"],
-    rcpputils::fs::path("./test_folder/crl.pem").string());
+    std::filesystem::path("./test_folder/crl.pem").generic_string());
 }