diff --git a/ros2_security_helper/.gitignore b/ros2_security_helper/.gitignore
deleted file mode 100644
index c79aae26..00000000
--- a/ros2_security_helper/.gitignore
+++ /dev/null
@@ -1,10 +0,0 @@
-build
-install
-.catkin_workspace
-devel
-.idea
-cmake-build-debug
-.DS_Store
-.catkin_tools
-logs
-
diff --git a/ros2_security_helper/CMakeLists.txt b/ros2_security_helper/CMakeLists.txt
deleted file mode 100644
index 7e91a83c..00000000
--- a/ros2_security_helper/CMakeLists.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-cmake_minimum_required(VERSION 3.1)
-project(ros2_security_helper)
-SET(VERSION "1.0.0")
-
-include(CMakePackageConfigHelpers)
-SET(LIB_INSTALL_DIR lib/)
-SET(INCLUDE_INSTALL_DIR include/)
-SET(SYSCONFIG_INSTALL_DIR share/${PROJECT_NAME})
-
-configure_package_config_file(ros2_security_helperConfig.cmake.in
-    ${CMAKE_CURRENT_BINARY_DIR}/ros2_security_helperConfig.cmake
-    INSTALL_DESTINATION ${LIB_INSTALL_DIR}/ros2_security_helper/cmake
-
-    PATH_VARS INCLUDE_INSTALL_DIR SYSCONFIG_INSTALL_DIR)
-
-write_basic_package_version_file(
-    ${CMAKE_CURRENT_BINARY_DIR}/ros2_security_helperConfigVersion.cmake
-    VERSION ${VERSION}
-    COMPATIBILITY SameMajorVersion )
-
-INSTALL(FILES ${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake DESTINATION share/${PROJECT_NAME}/cmake)
-INSTALL(FILES ${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake DESTINATION share/${PROJECT_NAME}/cmake)
-INSTALL(FILES GenerateSecurity.cmake DESTINATION share/${PROJECT_NAME}/cmake)
-
diff --git a/ros2_security_helper/GenerateSecurity.cmake b/ros2_security_helper/GenerateSecurity.cmake
deleted file mode 100644
index 88a8fb90..00000000
--- a/ros2_security_helper/GenerateSecurity.cmake
+++ /dev/null
@@ -1,84 +0,0 @@
-# Copyright 2016-2017 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.
-
-# Macro for setting up security
-macro(ros2_create_keystore)
-    IF (NOT SECURITY)
-        return()
-    endif()
-    find_program(PROGRAM ros2)
-    if (DEFINED ENV{ROS_SECURITY_ROOT_DIRECTORY})
-        set(SECURITY_KEYSTORE $ENV{ROS_SECURITY_ROOT_DIRECTORY})
-    else()
-        SET(SECURITY_KEYSTORE ${DEFAULT_KEYSTORE})
-    endif()
-    message(STATUS "Keystore located at ${SECURITY_KEYSTORE}")
-    IF (NOT EXISTS ${SECURITY_KEYSTORE})
-        message(STATUS "Creating keystore directory")
-        file(MAKE_DIRECTORY ${SECURITY_KEYSTORE})
-    endif()
-
-    # Check to see if the security keystore already has already been created
-    file(GLOB RESULT "${SECURITY_KEYSTORE}/")
-    list(LENGTH RESULT RES_LEN)
-    if(${RES_LEN} EQUAL 0)
-        message(STATUS "Creating keystore directory")
-        execute_process (
-	        COMMAND ${PROGRAM} security create_keystore ${SECURITY_KEYSTORE}
-	    )
-    endif()
-endmacro()
-
-macro(ros2_secure_node)
-    # ros2_secure_node(NODES <node_1> <node_2>...<node_n>)
-
-    # NODES (macro multi-arg) takes the node names for which keys will be generated
-    # SECURITY (cmake arg) if not define or OFF, will not generate key/keystores
-    # ROS_SECURITY_ROOT_DIRECTORY (env variable) will the location of the keystore
-    # POLICY_FILE (cmake arg) if defined, will compile policies by node name into the access private certificates (e.g POLICY_FILE=/etc/policies/<policy.yaml>, Generate: <node_name> /etc/policies/<policy.yaml>)
-    IF (NOT SECURITY)
-        message(STATUS "Not generating security files")
-        return()
-    endif()
-    find_program(PROGRAM ros2)
-    if (NOT PROGRAM)
-        message("Unable to find ros2cli, have you sourced your ros setup files?")
-        return()
-    endif()
-    ros2_create_keystore()
-    set(multiValueArgs NODES)
-    cmake_parse_arguments(ros2_secure_node "" "" "${multiValueArgs}" ${ARGN} )
-    foreach(node ${ros2_secure_node_NODES})
-        message(STATUS "${PROGRAM} security create_key ${SECURITY_KEYSTORE} ${node} ${policy}")
-        execute_process (
-            COMMAND ${PROGRAM} security create_key ${SECURITY_KEYSTORE} ${node} 
-        )
-        if (POLICY_FILE)
-            if (EXISTS ${POLICY_FILE})
-                set(policy ${POLICY_FILE})
-                message(STATUS "Executing: ${PROGRAM} security create_permission ${SECURITY_KEYSTORE} ${node} ${policy}")
-                execute_process (
-                    COMMAND ${PROGRAM} security create_permission ${SECURITY_KEYSTORE} ${node} ${policy}
-                    RESULT_VARIABLE POLICY_RESULT
-                    ERROR_VARIABLE POLICY_ERROR
-                    )
-                if (NOT ${POLICY_RESULT} EQUAL 0)
-                    message("Unable to generate policy for ${node} in ${policy}")
-                    message("${POLICY_ERROR}")
-                endif()
-            endif()
-        endif()
-    endforeach(node)
-endmacro()
-
diff --git a/ros2_security_helper/README.txt b/ros2_security_helper/README.txt
deleted file mode 100644
index aa5d6d09..00000000
--- a/ros2_security_helper/README.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-# Security Helper
-Add node authentication, cryptography, and access control security keys using a cmake macro.
-
-In package.xml add:  
-`<depend>ros2_security_helpers</depend>`
-In CMakeLists add:  
-`find_package(ros2_security_helpers REQUIRED)`
-Then use the macro:  
-    # ros2_secure_node(NODES <node_1> <node_2>...<node_n>)
-
-    # NODES (macro multi-arg) takes the node names for which keys will be generated
-    # SECURITY (cmake arg) if not define or OFF, will not generate key/keystores
-    # ROS_SECURITY_ROOT_DIRECTORY (env variable) will the location of the keystore
-    # POLICY_FILE (cmake arg) if defined, will compile policies by node name into the access private certificates (e.g POLICY_FILE=/etc/policies/<policy.yaml>, Generate: <node_name> /etc/policies/<policy.yaml>) **if defined, all nodes must have a policy defined for them**
-
diff --git a/ros2_security_helper/package.xml b/ros2_security_helper/package.xml
deleted file mode 100644
index 7fb12963..00000000
--- a/ros2_security_helper/package.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-    <package format="2">
-    <name>ros2_security_helper</name>
-    <version>1.0.0</version>
-    <description>Common AWS SDK utilities, intended for use by ROS packages using the AWS SDK.</description>
-    <author email="aws-b9-platform@amazon.com">AWS B9 Team</author>
-    <maintainer email="aws-b9-platform@amazon.com">AWS B9 Team</maintainer>
-    <license>Apache 2.0</license>
-    
-    <buildtool_depend>cmake</buildtool_depend>
-    <export>
-    <build_type>cmake</build_type>
-    </export>
-</package>
diff --git a/ros2_security_helper/ros2_security_helperConfig.cmake.in b/ros2_security_helper/ros2_security_helperConfig.cmake.in
deleted file mode 100644
index 276f017f..00000000
--- a/ros2_security_helper/ros2_security_helperConfig.cmake.in
+++ /dev/null
@@ -1,8 +0,0 @@
-# Compute paths
-
-set(DEFAULT_KEYSTORE keys)
-set(ros2_security_helperBASE_DIR "${CMAKE_CURRENT_LIST_DIR}/../../..")
-set(DEFAULT_SECURE_FOLDER "${ros2_security_helperBASE_DIR}/ros2_security")
-
-include("${CMAKE_CURRENT_LIST_DIR}/GenerateSecurity.cmake")
-