diff --git a/rosidl_typesupport_fastrtps_c/CMakeLists.txt b/rosidl_typesupport_fastrtps_c/CMakeLists.txt
index 7181915..e2bda00 100644
--- a/rosidl_typesupport_fastrtps_c/CMakeLists.txt
+++ b/rosidl_typesupport_fastrtps_c/CMakeLists.txt
@@ -101,11 +101,6 @@ if(BUILD_TESTING)
       ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
   endif()
 
-  add_performance_test(benchmark_string_conversions test/benchmark/benchmark_string_conversions.cpp)
-  if(TARGET benchmark_string_conversions)
-    target_link_libraries(benchmark_string_conversions ${PROJECT_NAME})
-  endif()
-
   find_package(ament_cmake_pytest REQUIRED)
   ament_add_pytest_test(test_cli_extension test/test_cli_extension.py)
 endif()
diff --git a/rosidl_typesupport_fastrtps_c/test/benchmark/benchmark_string_conversions.cpp b/rosidl_typesupport_fastrtps_c/test/benchmark/benchmark_string_conversions.cpp
deleted file mode 100644
index 92a443f..0000000
--- a/rosidl_typesupport_fastrtps_c/test/benchmark/benchmark_string_conversions.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-// Copyright 2020 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.
-
-#include <string>
-
-#include "fastcdr/Cdr.h"
-#include "rcutils/macros.h"
-
-#include "rosidl_runtime_c/string_functions.h"
-#include "rosidl_runtime_c/u16string_functions.h"
-
-#include "rosidl_typesupport_fastrtps_c/serialization_helpers.hpp"
-
-#include "performance_test_fixture/performance_test_fixture.hpp"
-
-using performance_test_fixture::PerformanceTest;
-
-namespace
-{
-constexpr const uint64_t kSize = 1024;
-}
-
-BENCHMARK_F(PerformanceTest, wstring_to_u16string)(benchmark::State & st)
-{
-  namespace fastcdr = eprosima::fastcdr;
-
-  std::wstring wstring(kSize, '*');
-  char raw_buffer[kSize * 4 + 4];  // 4 bytes per character + 4 bytes for the length
-  fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
-  cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
-  cdr << wstring;
-
-  rosidl_runtime_c__U16String s;
-  if (!rosidl_runtime_c__U16String__init(&s)) {
-    st.SkipWithError("String initialization failed");
-    return;
-  }
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    RCUTILS_UNUSED(_);
-    cdr.reset();
-    rosidl_typesupport_fastrtps_c::cdr_deserialize(cdr, s);
-  }
-
-  rosidl_runtime_c__U16String__fini(&s);
-}
-
-BENCHMARK_F(PerformanceTest, u16string_to_wstring)(benchmark::State & st)
-{
-  namespace fastcdr = eprosima::fastcdr;
-
-  std::wstring data(kSize, '*');
-  char raw_buffer[kSize * 4 + 4];  // 4 bytes per character + 4 bytes for the length
-  fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
-  cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
-  cdr << data;
-
-  rosidl_runtime_c__U16String s;
-  if (!rosidl_runtime_c__U16String__init(&s)) {
-    st.SkipWithError("String initialization failed");
-    return;
-  }
-
-  // Just do a copy
-  cdr.reset();
-  rosidl_typesupport_fastrtps_c::cdr_deserialize(cdr, s);
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    RCUTILS_UNUSED(_);
-    cdr.reset();
-    rosidl_typesupport_fastrtps_c::cdr_serialize(cdr, s);
-  }
-
-  rosidl_runtime_c__U16String__fini(&s);
-}
diff --git a/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt b/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt
index a42c778..6d0f636 100644
--- a/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt
+++ b/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt
@@ -104,11 +104,6 @@ if(BUILD_TESTING)
       ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
   endif()
 
-  add_performance_test(benchmark_string_conversions test/benchmark/benchmark_string_conversions.cpp)
-  if(TARGET benchmark_string_conversions)
-    target_link_libraries(benchmark_string_conversions ${PROJECT_NAME})
-  endif()
-
   find_package(ament_cmake_pytest REQUIRED)
   ament_add_pytest_test(test_cli_extension test/test_cli_extension.py)
 endif()
diff --git a/rosidl_typesupport_fastrtps_cpp/test/benchmark/benchmark_string_conversions.cpp b/rosidl_typesupport_fastrtps_cpp/test/benchmark/benchmark_string_conversions.cpp
deleted file mode 100644
index 1e547e3..0000000
--- a/rosidl_typesupport_fastrtps_cpp/test/benchmark/benchmark_string_conversions.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-// Copyright 2020 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.
-
-#include <string>
-
-#include "fastcdr/Cdr.h"
-#include "rcutils/macros.h"
-
-#include "rosidl_typesupport_fastrtps_cpp/serialization_helpers.hpp"
-
-#include "performance_test_fixture/performance_test_fixture.hpp"
-
-using performance_test_fixture::PerformanceTest;
-
-namespace
-{
-constexpr const uint64_t kSize = 1024;
-}
-
-BENCHMARK_F(PerformanceTest, wstring_to_u16string)(benchmark::State & st)
-{
-  namespace fastcdr = eprosima::fastcdr;
-
-  std::wstring wstring(kSize, '*');
-  char raw_buffer[kSize * 4 + 4];  // 4 bytes per character + 4 bytes for the length
-  fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
-  cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
-
-  cdr << wstring;
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    RCUTILS_UNUSED(_);
-    std::u16string u16string;
-    cdr.reset();
-    rosidl_typesupport_fastrtps_cpp::cdr_deserialize(cdr, u16string);
-  }
-}
-
-BENCHMARK_F(PerformanceTest, u16string_to_wstring)(benchmark::State & st)
-{
-  namespace fastcdr = eprosima::fastcdr;
-
-  std::u16string u16string(kSize, '*');
-  char raw_buffer[kSize * 4 + 4];  // 4 bytes per character + 4 bytes for the length
-  fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
-  cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    RCUTILS_UNUSED(_);
-    cdr.reset();
-    rosidl_typesupport_fastrtps_cpp::cdr_serialize(cdr, u16string);
-  }
-}