diff --git a/CMakeLists.txt b/CMakeLists.txt
index d2d51b5..c774f1e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,9 +25,10 @@ endif()
 
 add_library(${PROJECT_NAME}
   src/asserts.cpp
+  src/env.cpp
   src/filesystem_helper.cpp
   src/find_library.cpp
-  src/env.cpp
+  src/process.cpp
   src/shared_library.cpp)
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
@@ -36,7 +37,7 @@ if(WIN32)
   target_compile_definitions(${PROJECT_NAME}
     PRIVATE "RCPPUTILS_BUILDING_LIBRARY")
 endif()
-ament_target_dependencies(${PROJECT_NAME} rcutils)
+target_link_libraries(${PROJECT_NAME} PUBLIC rcutils::rcutils)
 
 # Export old-style CMake variables
 ament_export_include_directories("include/${PROJECT_NAME}")
@@ -74,15 +75,13 @@ if(BUILD_TESTING)
   target_link_libraries(test_join ${PROJECT_NAME})
 
   ament_add_gtest(test_time test/test_time.cpp)
-  target_link_libraries(test_time ${PROJECT_NAME})
-  ament_target_dependencies(test_time rcutils)
+  target_link_libraries(test_time ${PROJECT_NAME} rcutils::rcutils)
 
   ament_add_gtest(test_env test/test_env.cpp
     ENV
       EMPTY_TEST=
       NORMAL_TEST=foo
   )
-  ament_target_dependencies(test_env rcutils)
   target_link_libraries(test_env ${PROJECT_NAME})
 
   ament_add_gtest(test_scope_exit test/test_scope_exit.cpp)
@@ -95,7 +94,6 @@ if(BUILD_TESTING)
     ENV
       EXPECTED_WORKING_DIRECTORY=$<SHELL_PATH:${CMAKE_CURRENT_BINARY_DIR}>
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
-  ament_target_dependencies(test_filesystem_helper rcutils)
   target_link_libraries(test_filesystem_helper ${PROJECT_NAME})
 
   ament_add_gtest(test_find_and_replace test/test_find_and_replace.cpp)
@@ -106,7 +104,6 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_process test/test_process.cpp)
   target_link_libraries(test_process ${PROJECT_NAME})
-  ament_target_dependencies(test_process rcutils)
 
   set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
 
@@ -129,8 +126,9 @@ if(BUILD_TESTING)
 
   add_library(test_library SHARED test/test_library.cpp)
   target_link_libraries(test_library PUBLIC ${PROJECT_NAME})
+
   ament_add_gtest(test_find_library test/test_find_library.cpp)
-  target_link_libraries(test_find_library test_library)
+  target_link_libraries(test_find_library test_library rcutils::rcutils)
   set_tests_properties(test_find_library PROPERTIES
     ENVIRONMENT
       "_TEST_LIBRARY_DIR=$<TARGET_FILE_DIR:test_library>;_TEST_LIBRARY=$<TARGET_FILE:test_library>")
diff --git a/include/rcpputils/process.hpp b/include/rcpputils/process.hpp
index 231f425..a8a9cbe 100644
--- a/include/rcpputils/process.hpp
+++ b/include/rcpputils/process.hpp
@@ -15,10 +15,10 @@
 #ifndef RCPPUTILS__PROCESS_HPP_
 #define RCPPUTILS__PROCESS_HPP_
 
-#include <rcutils/process.h>
-
 #include <string>
 
+#include "rcpputils/visibility_control.hpp"
+
 namespace rcpputils
 {
 
@@ -32,17 +32,8 @@ namespace rcpputils
  * \return The program name.
  * \throws std::runtime_error on error
  */
-std::string get_executable_name()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  char * executable_name = rcutils_get_executable_name(allocator);
-  if (nullptr == executable_name) {
-    throw std::runtime_error("Failed to get executable name");
-  }
-  std::string ret(executable_name);
-  allocator.deallocate(executable_name, allocator.state);
-  return ret;
-}
+RCPPUTILS_PUBLIC
+std::string get_executable_name();
 
 }  // namespace rcpputils
 
diff --git a/include/rcpputils/time.hpp b/include/rcpputils/time.hpp
index 073f72f..edf1a90 100644
--- a/include/rcpputils/time.hpp
+++ b/include/rcpputils/time.hpp
@@ -17,8 +17,6 @@
 
 #include <chrono>
 
-#include "rcutils/time.h"
-
 namespace rcpputils
 {
 
diff --git a/src/process.cpp b/src/process.cpp
new file mode 100644
index 0000000..a044641
--- /dev/null
+++ b/src/process.cpp
@@ -0,0 +1,38 @@
+// Copyright 2023 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 "rcpputils/process.hpp"
+
+#include <stdexcept>
+#include <string>
+
+#include "rcutils/allocator.h"
+#include "rcutils/process.h"
+
+namespace rcpputils
+{
+
+std::string get_executable_name()
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * executable_name = rcutils_get_executable_name(allocator);
+  if (nullptr == executable_name) {
+    throw std::runtime_error("Failed to get executable name");
+  }
+  std::string ret(executable_name);
+  allocator.deallocate(executable_name, allocator.state);
+  return ret;
+}
+
+}  // namespace rcpputils
diff --git a/test/test_time.cpp b/test/test_time.cpp
index 7f30ef3..7828630 100644
--- a/test/test_time.cpp
+++ b/test/test_time.cpp
@@ -16,6 +16,8 @@
 
 #include <rcpputils/time.hpp>
 
+#include "rcutils/time.h"
+
 TEST(test_time, test_convert_to_nanoseconds) {
   rcutils_duration_value_t expect_value = RCUTILS_S_TO_NS(5 * 60);  // 5 minutes
   rcutils_duration_value_t cast_val = 0;