diff --git a/rosidl_generator_c/CMakeLists.txt b/rosidl_generator_c/CMakeLists.txt
index 06e158ac6..2a079103d 100644
--- a/rosidl_generator_c/CMakeLists.txt
+++ b/rosidl_generator_c/CMakeLists.txt
@@ -13,7 +13,6 @@ endif()
 
 find_package(ament_cmake_python REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
-find_package(rosidl_runtime_c REQUIRED)
 
 ament_export_dependencies(rosidl_cmake)
 ament_export_dependencies(rosidl_typesupport_interface)
@@ -30,6 +29,7 @@ endif()
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(test_interface_files REQUIRED)
+  find_package(rosidl_runtime_c REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
   include(cmake/register_c.cmake)