diff --git a/cmake/common/find_or_add_gtest.cmake b/cmake/common/find_or_add_gtest.cmake
index f466bc85..e5914dd3 100644
--- a/cmake/common/find_or_add_gtest.cmake
+++ b/cmake/common/find_or_add_gtest.cmake
@@ -13,28 +13,6 @@
 # limitations under the License.
 
 macro(find_or_add_gtest)
-    # Check if building on an ament context, i.e. ROS 2
-    # Thanks to https://github.com/facontidavide/PlotJuggler/blob/main/CMakeLists.txt#L66
-    find_package(ament_cmake QUIET)
-
-    # This is a ROS 2 build
-    if(ament_cmake_FOUND)
-        # Find all GTest vendor required packages
-        find_package(ament_cmake REQUIRED)
-        find_package(gtest_vendor REQUIRED)
-        find_package(ament_cmake_gtest REQUIRED)
-
-        # Find GTest
-        ament_find_gtest()
-
-        # Add aliases for GTest libraries so we can use them as targets independently of the context
-        add_library(GTest::gtest ALIAS gtest)
-        add_library(GTest::gtest_main ALIAS gtest_main)
-        target_link_libraries(gtest_main gtest)
-
-    # This is a non-ROS 2 build
-    else()
-        # Find GTest normally
-        find_package(GTest CONFIG REQUIRED)
-    endif()
+    # Find GTest normally
+    find_package(GTest CONFIG REQUIRED)
 endmacro()
diff --git a/colcon.pkg b/colcon.pkg
index b1021816..810f4746 100644
--- a/colcon.pkg
+++ b/colcon.pkg
@@ -1,8 +1,5 @@
 name: fastcdr
 type: cmake
 test-dependencies:
-    # Needed for test compilation in ROS 2 CI
-    - ament_cmake_gtest
-    - ament_cmake
     # Needed for test compilation in eProsima CI
     - googletest-distribution
diff --git a/package.xml b/package.xml
index 99aa5e9e..78f53c60 100644
--- a/package.xml
+++ b/package.xml
@@ -17,8 +17,7 @@
   <buildtool_depend>cmake</buildtool_depend>
   <doc_depend>doxygen</doc_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_cmake</test_depend>
+  <test_depend>libgtest-dev</test_depend>
 
   <export>
     <build_type>cmake</build_type>