diff --git a/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake b/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake
index 49085fb..d6cac86 100644
--- a/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake
+++ b/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_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_files}
   COMMAND Python3::Interpreter
@@ -102,6 +108,7 @@ add_custom_command(
   DEPENDS ${target_dependencies}
   COMMENT "Generating C type support for eProsima Fast-RTPS"
   VERBATIM
+  ${_dep_explicit_only}
 )
 
 # generate header to switch between export and import for a specific package
diff --git a/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake b/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
index af089a3..a2086bd 100644
--- a/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
+++ b/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
@@ -104,6 +104,12 @@ 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 a command that invokes generator at build time
 add_custom_command(
   OUTPUT ${_generated_files}
@@ -113,6 +119,7 @@ add_custom_command(
   DEPENDS ${target_dependencies}
   COMMENT "Generating C++ type support for eProsima Fast-RTPS"
   VERBATIM
+  ${_dep_explicit_only}
 )
 
 # generate header to switch between export and import for a specific package