diff --git a/rclcpp_lifecycle/CMakeLists.txt b/rclcpp_lifecycle/CMakeLists.txt
index 1862810..87d5022 100644
--- a/rclcpp_lifecycle/CMakeLists.txt
+++ b/rclcpp_lifecycle/CMakeLists.txt
@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake_ros REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcl_lifecycle REQUIRED)
+find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 
@@ -29,7 +30,9 @@ add_library(rclcpp_lifecycle
 ament_target_dependencies(rclcpp_lifecycle
   "rclcpp"
   "rcl_lifecycle"
-  "lifecycle_msgs")
+  "lifecycle_msgs"
+  "rosidl_typesupport_cpp"
+)
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
diff --git a/rclcpp_lifecycle/package.xml b/rclcpp_lifecycle/package.xml
index 4ffe033..baf4fd3 100644
--- a/rclcpp_lifecycle/package.xml
+++ b/rclcpp_lifecycle/package.xml
@@ -8,22 +8,21 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <build_depend>lifecycle_msgs</build_depend>
   <build_depend>rclcpp</build_depend>
   <build_depend>rcl_lifecycle</build_depend>
   <build_depend>rmw_implementation</build_depend>
-  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>rosidl_typesupport_cpp</build_depend>
   <build_depend>std_msgs</build_depend>
-  <build_depend>lifecycle_msgs</build_depend>
 
+  <exec_depend>lifecycle_msgs</exec_depend>
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>rcl_lifecycle</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>rmw_implementation</exec_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>rosidl_typesupport_cpp</exec_depend>
   <exec_depend>std_msgs</exec_depend>
-  <exec_depend>lifecycle_msgs</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>