diff --git a/rclcpp_components/cmake/rclcpp_components_add_node.cmake b/rclcpp_components/cmake/rclcpp_components_add_node.cmake
deleted file mode 100644
index ddbce62a5f..0000000000
--- a/rclcpp_components/cmake/rclcpp_components_add_node.cmake
+++ /dev/null
@@ -1,59 +0,0 @@
-# Copyright 2019 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Create a target which builds a shared library and also creates a target
-# which builds an executable
-# usage: rclcpp_components_add_node(
-#              <target> [EXCLUDE_FROM_ALL] <source1> [source2 ...])
-
-# :param EXCLUDE_FROM_ALL: exclude the target from default build target
-# :type EXCLUDE_FROM_ALL: boolean
-# :param target: the name of the shared library target
-# :type target: string
-# :param sourceN: the list of source files for executable and shared library
-# :type sourceN: list of strings
-#
-function(rclcpp_components_add_node target)
-  cmake_parse_arguments(
-    ARGS
-    "EXCLUDE_FROM_ALL"
-    ""
-    ""
-    ${ARGN})
-  list(GET ARGS_UNPARSED_ARGUMENTS 0 executable_name)
-  list(REMOVE_AT ARGS_UNPARSED_ARGUMENTS 0)
-  set(sourceN ${ARGS_UNPARSED_ARGUMENTS})
-  add_library(${target} SHARED ${sourceN})
-  string(TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
-  target_compile_definitions(${target} PRIVATE "${PROJECT_NAME_UPPER}_BUILDING_DLL")
-  set_target_properties(${target} PROPERTIES EXCLUDE_FROM_ALL ${ARGS_EXCLUDE_FROM_ALL})
-  add_executable(${executable_name} ../../rclcpp/rclcpp_components/src/node_main.cpp)
-  set(lib ${target})
-  # Needed so symbols aren't dropped if not usesd
-  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    set(lib
-      "-Wl,--no-as-needed"
-      ${target}
-      "-Wl,--as-needed")
-  endif()
-  target_link_libraries(${executable_name}
-    ${lib})
-  ament_target_dependencies(${executable_name}
-    "rclcpp"
-    "class_loader"
-    "rclcpp_components")
-  install(TARGETS
-    ${executable_name}
-    DESTINATION lib/${PROJECT_NAME})
-endfunction()