diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
index 4698cfd99..343b2efb2 100644
--- a/rcl_yaml_param_parser/CMakeLists.txt
+++ b/rcl_yaml_param_parser/CMakeLists.txt
@@ -94,14 +94,6 @@ if(BUILD_TESTING)
       "rcutils"
     )
   endif()
-
-  add_performance_test(benchmark_variant test/benchmark/benchmark_variant.cpp)
-  if(TARGET benchmark_variant)
-    target_link_libraries(benchmark_variant ${PROJECT_NAME})
-    ament_target_dependencies(benchmark_variant
-      "rcutils"
-    )
-  endif()
 endif()
 
 ament_export_dependencies(ament_cmake libyaml_vendor)
diff --git a/rcl_yaml_param_parser/test/benchmark/benchmark_variant.cpp b/rcl_yaml_param_parser/test/benchmark/benchmark_variant.cpp
deleted file mode 100644
index 7b8283ccf..000000000
--- a/rcl_yaml_param_parser/test/benchmark/benchmark_variant.cpp
+++ /dev/null
@@ -1,243 +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 <type_traits>
-
-#include "osrf_testing_tools_cpp/scope_exit.hpp"
-
-#include "performance_test_fixture/performance_test_fixture.hpp"
-
-#include "rcl_yaml_param_parser/parser.h"
-
-#include "rcutils/allocator.h"
-#include "rcutils/error_handling.h"
-#include "rcutils/filesystem.h"
-#include "rcutils/strdup.h"
-
-#include "../src/impl/yaml_variant.h"
-
-using performance_test_fixture::PerformanceTest;
-
-namespace
-{
-constexpr const uint64_t kSize = 1024;
-}
-
-BENCHMARK_F(PerformanceTest, bool_copy_variant)(benchmark::State & st)
-{
-  bool bool_value = true;
-  rcl_variant_t src_variant{};
-  rcl_variant_t dest_variant{};
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  src_variant.bool_value = &bool_value;
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
-      st.SkipWithError(rcutils_get_error_string().str);
-    }
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  }
-  src_variant.bool_value = nullptr;
-}
-
-BENCHMARK_F(PerformanceTest, int_copy_variant)(benchmark::State & st)
-{
-  int64_t int_value = 42;
-  rcl_variant_t src_variant{};
-  rcl_variant_t dest_variant{};
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  src_variant.integer_value = &int_value;
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
-      st.SkipWithError(rcutils_get_error_string().str);
-    }
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  }
-  src_variant.integer_value = nullptr;
-}
-
-BENCHMARK_F(PerformanceTest, double_copy_variant)(benchmark::State & st)
-{
-  double double_value = 3.14157;
-  rcl_variant_t src_variant{};
-  rcl_variant_t dest_variant{};
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  src_variant.double_value = &double_value;
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
-      st.SkipWithError(rcutils_get_error_string().str);
-    }
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  }
-  src_variant.double_value = nullptr;
-}
-
-BENCHMARK_F(PerformanceTest, string_copy_variant)(benchmark::State & st)
-{
-  std::string data(kSize, '*');
-  rcl_variant_t src_variant{};
-  rcl_variant_t dest_variant{};
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  char * tmp_string = rcutils_strdup(data.c_str(), allocator);
-  src_variant.string_value = tmp_string;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_variant_fini(&src_variant, allocator);
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  });
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
-      st.SkipWithError(rcutils_get_error_string().str);
-    }
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  }
-}
-
-BENCHMARK_F(PerformanceTest, array_bool_copy_variant)(benchmark::State & st)
-{
-  rcl_variant_t src_variant{};
-  rcl_variant_t dest_variant{};
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  using ArrayT = std::remove_pointer<decltype(src_variant.bool_array_value)>::type;
-  src_variant.bool_array_value =
-    static_cast<ArrayT *>(allocator.allocate(sizeof(ArrayT), allocator.state));
-  using ValueT = std::remove_pointer<decltype(src_variant.bool_array_value->values)>::type;
-  src_variant.bool_array_value->values =
-    static_cast<ValueT *>(
-    allocator.zero_allocate(kSize, sizeof(ValueT), allocator.state));
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_variant_fini(&src_variant, allocator);
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  });
-  src_variant.bool_array_value->size = kSize;
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
-      st.SkipWithError(rcutils_get_error_string().str);
-    }
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  }
-}
-
-BENCHMARK_F(PerformanceTest, array_int_copy_variant)(benchmark::State & st)
-{
-  rcl_variant_t src_variant{};
-  rcl_variant_t dest_variant{};
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  using ArrayT = std::remove_pointer<decltype(src_variant.integer_array_value)>::type;
-  src_variant.integer_array_value =
-    static_cast<ArrayT *>(allocator.allocate(sizeof(ArrayT), allocator.state));
-  using ValueT = std::remove_pointer<decltype(src_variant.integer_array_value->values)>::type;
-  src_variant.integer_array_value->values =
-    static_cast<ValueT *>(
-    allocator.zero_allocate(kSize, sizeof(ValueT), allocator.state));
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_variant_fini(&src_variant, allocator);
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  });
-  src_variant.integer_array_value->size = kSize;
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
-      st.SkipWithError(rcutils_get_error_string().str);
-    }
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  }
-}
-
-BENCHMARK_F(PerformanceTest, array_double_copy_variant)(benchmark::State & st)
-{
-  rcl_variant_t src_variant{};
-  rcl_variant_t dest_variant{};
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  using ArrayT = std::remove_pointer<decltype(src_variant.double_array_value)>::type;
-  src_variant.double_array_value =
-    static_cast<ArrayT *>(allocator.allocate(sizeof(ArrayT), allocator.state));
-  using ValueT = std::remove_pointer<decltype(src_variant.double_array_value->values)>::type;
-  src_variant.double_array_value->values =
-    static_cast<ValueT *>(
-    allocator.zero_allocate(kSize, sizeof(ValueT), allocator.state));
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_variant_fini(&src_variant, allocator);
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  });
-  src_variant.double_array_value->size = kSize;
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
-      st.SkipWithError(rcutils_get_error_string().str);
-    }
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  }
-}
-
-BENCHMARK_F(PerformanceTest, array_string_copy_variant)(benchmark::State & st)
-{
-  rcl_variant_t src_variant{};
-  rcl_variant_t dest_variant{};
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  src_variant.string_array_value =
-    static_cast<rcutils_string_array_t *>(
-    allocator.allocate(sizeof(rcutils_string_array_t), allocator.state));
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_variant_fini(&src_variant, allocator);
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  });
-  *src_variant.string_array_value = rcutils_get_zero_initialized_string_array();
-  if (rcutils_string_array_init(src_variant.string_array_value, kSize, &allocator) !=
-    RCUTILS_RET_OK)
-  {
-    st.SkipWithError(rcutils_get_error_string().str);
-  }
-
-  for (size_t i = 0; i < kSize; i++) {
-    src_variant.string_array_value->data[i] = rcutils_strdup("string", allocator);
-    if (src_variant.string_array_value->data[i] == NULL) {
-      st.SkipWithError(rcutils_get_error_string().str);
-    }
-  }
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
-      st.SkipWithError(rcutils_get_error_string().str);
-    }
-    rcl_yaml_variant_fini(&dest_variant, allocator);
-  }
-}