diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 31d541ad..3f6f7fa3 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -45,7 +45,6 @@ add_library(rmw_zenoh_cpp SHARED
   src/detail/type_support.cpp
   src/detail/type_support_common.cpp
   src/detail/zenoh_config.cpp
-  src/detail/zenoh_router_check.cpp
   src/detail/zenoh_utils.cpp
   src/rmw_event.cpp
   src/rmw_get_network_flow_endpoints.cpp
diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
index 4f145968..5a24d659 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
@@ -32,7 +32,6 @@
 #include "logging_macros.hpp"
 #include "rmw_node_data.hpp"
 #include "zenoh_config.hpp"
-#include "zenoh_router_check.hpp"
 
 #include "rcpputils/scope_exit.hpp"
 #include "rmw/error_handling.h"
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
deleted file mode 100644
index 150cf111..00000000
--- a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
+++ /dev/null
@@ -1,63 +0,0 @@
-// 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 "zenoh_router_check.hpp"
-
-#include <rcutils/env.h>
-
-#include <string>
-
-#include "logging_macros.hpp"
-#include "liveliness_utils.hpp"
-
-namespace rmw_zenoh_cpp
-{
-///=============================================================================
-rmw_ret_t zenoh_router_check(const z_loaned_session_t * session)
-{
-  // Initialize context for callback
-  int context = 0;
-
-  // Define callback
-  auto callback = [](const struct z_id_t * id, void * ctx) {
-      const std::string id_str = liveliness::zid_to_str(*id);
-      RMW_ZENOH_LOG_INFO_NAMED(
-        "rmw_zenoh_cpp",
-        "Successfully connected to a Zenoh router with id %s.", id_str.c_str());
-      // Note: Callback is guaranteed to never be called
-      // concurrently according to z_info_routers_zid docstring
-      (*(static_cast<int *>(ctx)))++;
-    };
-
-  rmw_ret_t ret = RMW_RET_OK;
-  z_owned_closure_zid_t router_callback;
-  z_closure(&router_callback, callback, NULL, &context);
-  if (z_info_routers_zid(session, z_move(router_callback)) != Z_OK) {
-    RMW_ZENOH_LOG_ERROR_NAMED(
-      "rmw_zenoh_cpp",
-      "Failed to evaluate if Zenoh routers are connected to the session.");
-    ret = RMW_RET_ERROR;
-  } else {
-    if (context == 0) {
-      RMW_ZENOH_LOG_ERROR_NAMED(
-        "rmw_zenoh_cpp",
-        "Unable to connect to a Zenoh router. "
-        "Have you started a router with `ros2 run rmw_zenoh_cpp rmw_zenohd`?");
-      ret = RMW_RET_ERROR;
-    }
-  }
-
-  return ret;
-}
-}  // namespace rmw_zenoh_cpp
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_router_check.hpp b/rmw_zenoh_cpp/src/detail/zenoh_router_check.hpp
deleted file mode 100644
index 1db74a4c..00000000
--- a/rmw_zenoh_cpp/src/detail/zenoh_router_check.hpp
+++ /dev/null
@@ -1,30 +0,0 @@
-// 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.
-
-#ifndef DETAIL__ZENOH_ROUTER_CHECK_HPP_
-#define DETAIL__ZENOH_ROUTER_CHECK_HPP_
-
-#include <zenoh.h>
-
-#include "rmw/ret_types.h"
-
-namespace rmw_zenoh_cpp
-{
-/// Check if a Zenoh router is connected to the session.
-/// @param session Zenoh session to check.
-/// @return RMW_RET_OK if a Zenoh router is connected to the session.
-rmw_ret_t zenoh_router_check(const z_loaned_session_t * session);
-}  // namespace rmw_zenoh_cpp
-
-#endif  // DETAIL__ZENOH_ROUTER_CHECK_HPP_