diff --git a/rosidl_generator_type_description/cmake/rosidl_generator_type_description_generate_interfaces.cmake b/rosidl_generator_type_description/cmake/rosidl_generator_type_description_generate_interfaces.cmake
index ed29cdab3..0e420f17a 100644
--- a/rosidl_generator_type_description/cmake/rosidl_generator_type_description_generate_interfaces.cmake
+++ b/rosidl_generator_type_description/cmake/rosidl_generator_type_description_generate_interfaces.cmake
@@ -78,6 +78,12 @@ rosidl_write_generator_arguments(
   INCLUDE_PATHS "${_dependency_paths}"
 )
 
+if(${CMAKE_VERSION} VERSION_GREATER_EQUAL 3.27)
+  set(_dep_explicit_only DEPENDS_EXPLICIT_ONLY)
+else()
+  set(_dep_explicit_only "")
+endif()
+
 # Create custom command and target to generate the hash output
 add_custom_command(
   COMMAND Python3::Interpreter
@@ -88,6 +94,7 @@ add_custom_command(
   DEPENDS ${target_dependencies}
   COMMENT "Generating type hashes for ROS interfaces"
   VERBATIM
+  ${_dep_explicit_only}
 )
 
 set(_target "${rosidl_generate_interfaces_TARGET}__rosidl_generator_type_description")
diff --git a/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake b/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
index dfad37acd..69c64a25f 100644
--- a/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
+++ b/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
@@ -94,6 +94,12 @@ set(Python3_FIND_UNVERSIONED_NAMES FIRST)
 
 find_package(Python3 REQUIRED COMPONENTS Interpreter)
 
+if(${CMAKE_VERSION} VERSION_GREATER_EQUAL 3.27)
+  set(_dep_explicit_only DEPENDS_EXPLICIT_ONLY)
+else()
+  set(_dep_explicit_only "")
+endif()
+
 add_custom_command(
   OUTPUT ${_generated_header_files} ${_generated_source_files}
   COMMAND Python3::Interpreter
@@ -102,6 +108,7 @@ add_custom_command(
   DEPENDS ${target_dependencies}
   COMMENT "Generating C introspection for ROS interfaces"
   VERBATIM
+  ${_dep_explicit_only}
 )
 
 # generate header to switch between export and import for a specific package
diff --git a/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake b/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
index daedc900f..39c9600d6 100644
--- a/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+++ b/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
@@ -94,6 +94,12 @@ set(Python3_FIND_UNVERSIONED_NAMES FIRST)
 
 find_package(Python3 REQUIRED COMPONENTS Interpreter)
 
+if(${CMAKE_VERSION} VERSION_GREATER_EQUAL 3.27)
+  set(_dep_explicit_only DEPENDS_EXPLICIT_ONLY)
+else()
+  set(_dep_explicit_only "")
+endif()
+
 add_custom_command(
   OUTPUT ${_generated_header_files} ${_generated_source_files}
   COMMAND Python3::Interpreter
@@ -102,6 +108,7 @@ add_custom_command(
   DEPENDS ${target_dependencies}
   COMMENT "Generating C++ introspection for ROS interfaces"
   VERBATIM
+  ${_dep_explicit_only}
 )
 
 set(_target_suffix "__rosidl_typesupport_introspection_cpp")