diff --git a/pluginlib/CMakeLists.txt b/pluginlib/CMakeLists.txt
index f0aec272..98e9b8ec 100644
--- a/pluginlib/CMakeLists.txt
+++ b/pluginlib/CMakeLists.txt
@@ -22,7 +22,7 @@ add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(${PROJECT_NAME} INTERFACE
   "$<INSTALL_INTERFACE:include>")
 ament_target_dependencies(${PROJECT_NAME} INTERFACE
-  ament_index_cpp class_loader rcutils rcpputils tinyxml2_vendor TinyXML2)
+  ament_index_cpp class_loader rcutils rcpputils TinyXML2)
 ament_export_dependencies(ament_index_cpp class_loader rcutils rcpputils tinyxml2_vendor TinyXML2)
 ament_export_include_directories(include)
 ament_export_targets(${PROJECT_NAME})
diff --git a/pluginlib/pluginlib-extras.cmake b/pluginlib/pluginlib-extras.cmake
index f4d0018e..ab9c670e 100644
--- a/pluginlib/pluginlib-extras.cmake
+++ b/pluginlib/pluginlib-extras.cmake
@@ -40,14 +40,3 @@ if(UNIX AND NOT APPLE)
   # ament_export_libraries() because it is not absolute and cannot be found with find_library
   list(APPEND pluginlib_LIBRARIES ${FILESYSTEM_LIB})
 endif()
-
-find_package(tinyxml2_vendor REQUIRED)
-find_package(TinyXML2 REQUIRED)
-list(APPEND pluginlib_LIBRARIES ${TinyXML2_LIBRARIES})
-
-add_library(tinyxml2_vendor INTERFACE IMPORTED)
-target_include_directories(tinyxml2_vendor INTERFACE
-  ${TinyXML2_INCLUDE_DIRS})
-target_link_libraries(tinyxml2_vendor INTERFACE
-  ${TinyXML2_LIBRARIES})
-list(APPEND pluginlib_TARGETS tinyxml2_vendor)