diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 2377920ba9..26d7e69362 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -222,13 +222,6 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  # For benchmark tests. Currently these libraries can't be found if these calls
-  # are located in the CMakeLists.txt in test/rclcpp/benchmark, which implies
-  # some sort of scope issue
-  find_package(benchmark REQUIRED)
-  find_package(osrf_testing_tools_cpp REQUIRED)
-  find_package(performance_test_fixture REQUIRED)
-
   add_subdirectory(test)
 endif()
 
diff --git a/rclcpp/test/benchmark/CMakeLists.txt b/rclcpp/test/benchmark/CMakeLists.txt
index 4fc3b66776..ab2cb3228f 100644
--- a/rclcpp/test/benchmark/CMakeLists.txt
+++ b/rclcpp/test/benchmark/CMakeLists.txt
@@ -1,3 +1,5 @@
+find_package(performance_test_fixture REQUIRED)
+
 # Give cppcheck hints about macro definitions coming from outside this package
 get_target_property(
   ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS