diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt
index 8c26d631e..aa2c0a3dc 100644
--- a/rcl_action/CMakeLists.txt
+++ b/rcl_action/CMakeLists.txt
@@ -31,10 +31,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-add_executable(test_compile_headers
-  src/test_compile_headers.c
-)
-
 set(rcl_action_sources
   src/${PROJECT_NAME}/action_client.c
   src/${PROJECT_NAME}/action_server.c
diff --git a/rcl_action/src/test_compile_headers.c b/rcl_action/src/test_compile_headers.c
deleted file mode 100644
index 44006045f..000000000
--- a/rcl_action/src/test_compile_headers.c
+++ /dev/null
@@ -1,21 +0,0 @@
-// Copyright 2018 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 "rcl_action/rcl_action.h"
-
-
-int main(void)
-{
-  return 0;
-}