diff --git a/rosidl_generator_rs/CMakeLists.txt b/rosidl_generator_rs/CMakeLists.txt
index 9a29958f..64e5577a 100644
--- a/rosidl_generator_rs/CMakeLists.txt
+++ b/rosidl_generator_rs/CMakeLists.txt
@@ -4,12 +4,15 @@ project(rosidl_generator_rs)
 
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
-find_package(rosidl_cmake REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
 find_package(rosidl_typesupport_interface REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 
-ament_export_dependencies(rosidl_cmake)
+if("$ENV{ROS_DISTRO}" STRLESS_EQUAL "humble")
+    find_package(rosidl_cmake REQUIRED)
+    ament_export_dependencies(rosidl_cmake)
+endif()
+
 ament_export_dependencies(rmw)
 ament_export_dependencies(rosidl_generator_c)
 
diff --git a/rosidl_generator_rs/package.xml b/rosidl_generator_rs/package.xml
index c12e46ca..18ff07f0 100644
--- a/rosidl_generator_rs/package.xml
+++ b/rosidl_generator_rs/package.xml
@@ -9,11 +9,14 @@
   <author email="esteve@apache.org">Esteve Fernandez</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-
+  <buildtool_depend>ros_environment</buildtool_depend>
+  
   <buildtool_depend>rosidl_runtime_rs</buildtool_depend>
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
-  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
+  <buildtool_export_depend>ros_environment</buildtool_export_depend>
+  <buildtool_export_depend condition="humble >= $ROS_DISTRO">rosidl_cmake</buildtool_export_depend>
+  <buildtool_export_depend condition="$ROS_DISTRO > humble">rosidl_pycommon</buildtool_export_depend>
   <buildtool_export_depend>rosidl_runtime_rs</buildtool_export_depend>
   <buildtool_export_depend>rosidl_typesupport_c</buildtool_export_depend>
   <buildtool_export_depend>rosidl_typesupport_interface</buildtool_export_depend>
@@ -26,7 +29,8 @@
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>rosidl_cmake</test_depend>
+  <test_depend condition="humble >= $ROS_DISTRO">rosidl_cmake</test_depend>
+  <test_depend condition="$ROS_DISTRO > humble">rosidl_pycommon</test_depend>
   <test_depend>rosidl_generator_c</test_depend>
 
   <member_of_group>rosidl_generator_packages</member_of_group>
diff --git a/rosidl_generator_rs/rosidl_generator_rs/__init__.py b/rosidl_generator_rs/rosidl_generator_rs/__init__.py
index 679fe965..ae61a3e9 100644
--- a/rosidl_generator_rs/rosidl_generator_rs/__init__.py
+++ b/rosidl_generator_rs/rosidl_generator_rs/__init__.py
@@ -18,11 +18,10 @@
 
 from pathlib import Path
 
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
-from rosidl_cmake import expand_template
-from rosidl_cmake import generate_files
-from rosidl_cmake import get_newest_modification_time
-from rosidl_cmake import read_generator_arguments
+if os.environ['ROS_DISTRO'] <= 'humble':
+    import rosidl_cmake as rosidl_pycommon
+else:
+    import rosidl_pycommon
 
 from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractNestedType
@@ -53,7 +52,7 @@ def convert_lower_case_underscore_to_camel_case(word):
 
 
 def generate_rs(generator_arguments_file, typesupport_impls):
-    args = read_generator_arguments(generator_arguments_file)
+    args = rosidl_pycommon.read_generator_arguments(generator_arguments_file)
     package_name = args['package_name']
 
     # expand init modules for each directory
@@ -108,7 +107,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
         'constant_value_to_rs': constant_value_to_rs,
         'value_to_rs': value_to_rs,
         'convert_camel_case_to_lower_case_underscore':
-        convert_camel_case_to_lower_case_underscore,
+        rosidl_pycommon.convert_camel_case_to_lower_case_underscore,
         'convert_lower_case_underscore_to_camel_case':
         convert_lower_case_underscore_to_camel_case,
         'msg_specs': [],
@@ -118,7 +117,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
         'interface_path': idl_rel_path,
     }
 
-    latest_target_timestamp = get_newest_modification_time(
+    latest_target_timestamp = rosidl_pycommon.get_newest_modification_time(
         args['target_dependencies'])
 
     for message in idl_content.get_elements_of_type(Message):
@@ -132,7 +131,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
             for generated_filename in generated_filenames:
                 generated_file = os.path.join(args['output_dir'],
                                               generated_filename % 'msg')
-                expand_template(
+                rosidl_pycommon.expand_template(
                     os.path.join(template_dir, template_file),
                     data.copy(),
                     generated_file,
@@ -143,13 +142,13 @@ def generate_rs(generator_arguments_file, typesupport_impls):
             for generated_filename in generated_filenames:
                 generated_file = os.path.join(args['output_dir'],
                                               generated_filename % 'srv')
-                expand_template(
+                rosidl_pycommon.expand_template(
                     os.path.join(template_dir, template_file),
                     data.copy(),
                     generated_file,
                     minimum_timestamp=latest_target_timestamp)
 
-    expand_template(
+    rosidl_pycommon.expand_template(
         os.path.join(template_dir, 'lib.rs.em'),
         data.copy(),
         os.path.join(args['output_dir'], 'rust/src/lib.rs'),
@@ -160,13 +159,13 @@ def generate_rs(generator_arguments_file, typesupport_impls):
         'package_name': args['package_name'],
         'package_version': args['package_version'],
     }
-    expand_template(
+    rosidl_pycommon.expand_template(
         os.path.join(template_dir, 'Cargo.toml.em'),
         cargo_toml_data,
         os.path.join(args['output_dir'], 'rust/Cargo.toml'),
         minimum_timestamp=latest_target_timestamp)
 
-    expand_template(
+    rosidl_pycommon.expand_template(
         os.path.join(template_dir, 'build.rs.em'),
         {},
         os.path.join(args['output_dir'], 'rust/build.rs'),