diff --git a/cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp b/cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp
index 7902304c1..38bc63c39 100644
--- a/cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp
+++ b/cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp
@@ -22,6 +22,7 @@
 #include "opencv2/core/mat.hpp"
 
 #include "rclcpp/type_adapter.hpp"
+#include "rcpputils/endian.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
 #include "cv_bridge/visibility_control.h"
@@ -30,24 +31,6 @@
 
 namespace cv_bridge
 {
-namespace detail
-{
-// TODO(audrow): Replace with std::endian when C++ 20 is available
-// https://en.cppreference.com/w/cpp/types/endian
-enum class endian
-{
-#ifdef _WIN32
-  little = 0,
-  big    = 1,
-  native = little
-#else
-  little = __ORDER_LITTLE_ENDIAN__,
-  big    = __ORDER_BIG_ENDIAN__,
-  native = __BYTE_ORDER__
-#endif
-};
-
-}  // namespace detail
 
 
 /// A potentially owning, potentially non-owning, container of a cv::Mat and ROS header.
@@ -85,7 +68,7 @@ enum class endian
  */
 class ROSCvMatContainer
 {
-  static constexpr bool is_bigendian_system = detail::endian::native == detail::endian::big;
+  static constexpr bool is_bigendian_system = rcpputils::endian::native == rcpputils::endian::big;
 
 public:
   using SensorMsgsImageStorageType = std::variant<
diff --git a/cv_bridge/package.xml b/cv_bridge/package.xml
index fe34f46d8..9c6c3e193 100644
--- a/cv_bridge/package.xml
+++ b/cv_bridge/package.xml
@@ -19,7 +19,6 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_depend>python_cmake_module</buildtool_depend>
 
-  <build_depend>libboost-dev</build_depend>
   <build_depend>libboost-python-dev</build_depend>
 
   <depend>libopencv-dev</depend>
diff --git a/cv_bridge/src/cv_bridge.cpp b/cv_bridge/src/cv_bridge.cpp
index e763e5da7..1ccd337c0 100644
--- a/cv_bridge/src/cv_bridge.cpp
+++ b/cv_bridge/src/cv_bridge.cpp
@@ -36,7 +36,6 @@
 
 #include <cv_bridge/cv_bridge.hpp>
 #include <cv_bridge/rgb_colors.hpp>
-#include <boost/endian/conversion.hpp>
 #include <opencv2/imgcodecs.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <sensor_msgs/image_encodings.hpp>
diff --git a/cv_bridge/test/test_endian.cpp b/cv_bridge/test/test_endian.cpp
index 088091822..92d151aec 100644
--- a/cv_bridge/test/test_endian.cpp
+++ b/cv_bridge/test/test_endian.cpp
@@ -1,12 +1,10 @@
-#include <boost/endian/conversion.hpp>
 #include <cv_bridge/cv_bridge.hpp>
 #include <gtest/gtest.h>
 #include <memory>
+#include <rcpputils/endian.hpp>
 
 TEST(CvBridgeTest, endianness)
 {
-  using namespace boost::endian;
-
   // Create an image of the type opposite to the platform
   sensor_msgs::msg::Image msg;
   msg.height = 1;
@@ -15,17 +13,31 @@ TEST(CvBridgeTest, endianness)
   msg.step = 8;
 
   msg.data.resize(msg.step);
-  int32_t * data = reinterpret_cast<int32_t *>(&msg.data[0]);
+  uint8_t * raw = msg.data.data();
 
   // Write 1 and 2 in order, but with an endianness opposite to the platform
-  if (order::native == order::little) {
+  if (rcpputils::endian::native == rcpputils::endian::little) {
     msg.is_bigendian = true;
-    *(data++) = native_to_big(static_cast<int32_t>(1));
-    *data = native_to_big(static_cast<int32_t>(2));
+    raw[0] = 0x00;
+    raw[1] = 0x00;
+    raw[2] = 0x00;
+    raw[3] = 0x01;
+
+    raw[4] = 0x00;
+    raw[5] = 0x00;
+    raw[6] = 0x00;
+    raw[7] = 0x02;
   } else {
     msg.is_bigendian = false;
-    *(data++) = native_to_little(static_cast<int32_t>(1));
-    *data = native_to_little(static_cast<int32_t>(2));
+    raw[0] = 0x01;
+    raw[1] = 0x00;
+    raw[2] = 0x00;
+    raw[3] = 0x00;
+
+    raw[4] = 0x02;
+    raw[5] = 0x00;
+    raw[6] = 0x00;
+    raw[7] = 0x00;
   }
 
   // Make sure the values are still the same