diff --git a/rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake b/rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake
index c48eda5..c311dc0 100644
--- a/rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake
+++ b/rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake
@@ -89,6 +89,12 @@ 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()
+
 get_used_typesupports(typesupports "rosidl_typesupport_c")
 add_custom_command(
   OUTPUT ${_generated_sources}
@@ -99,6 +105,7 @@ add_custom_command(
   DEPENDS ${target_dependencies}
   COMMENT "Generating C type support dispatch for ROS interfaces"
   VERBATIM
+  ${_dep_explicit_only}
 )
 
 set(_target_suffix "__rosidl_typesupport_c")
diff --git a/rosidl_typesupport_cpp/cmake/rosidl_typesupport_cpp_generate_interfaces.cmake b/rosidl_typesupport_cpp/cmake/rosidl_typesupport_cpp_generate_interfaces.cmake
index 94c7105..8aae15a 100644
--- a/rosidl_typesupport_cpp/cmake/rosidl_typesupport_cpp_generate_interfaces.cmake
+++ b/rosidl_typesupport_cpp/cmake/rosidl_typesupport_cpp_generate_interfaces.cmake
@@ -86,6 +86,12 @@ 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()
+
 get_used_typesupports(typesupports "rosidl_typesupport_cpp")
 add_custom_command(
   OUTPUT ${_generated_sources}
@@ -96,6 +102,7 @@ add_custom_command(
   DEPENDS ${target_dependencies}
   COMMENT "Generating C++ type support dispatch for ROS interfaces"
   VERBATIM
+  ${_dep_explicit_only}
 )
 
 set(_target_suffix "__rosidl_typesupport_cpp")