diff --git a/rclc/CMakeLists.txt b/rclc/CMakeLists.txt
index add9aad..224a632 100644
--- a/rclc/CMakeLists.txt
+++ b/rclc/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(micro_ros_demos_rclc)
 
diff --git a/rclc/addtwoints_client/CMakeLists.txt b/rclc/addtwoints_client/CMakeLists.txt
index 9c97c5a..3f59d64 100644
--- a/rclc/addtwoints_client/CMakeLists.txt
+++ b/rclc/addtwoints_client/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(addtwoints_client LANGUAGES C)
 
@@ -9,7 +9,9 @@ find_package(example_interfaces REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   example_interfaces
diff --git a/rclc/addtwoints_server/CMakeLists.txt b/rclc/addtwoints_server/CMakeLists.txt
index 28be617..efecd4e 100644
--- a/rclc/addtwoints_server/CMakeLists.txt
+++ b/rclc/addtwoints_server/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(addtwoints_server LANGUAGES C)
 
@@ -9,7 +9,9 @@ find_package(example_interfaces REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   example_interfaces
diff --git a/rclc/autodiscover_agent/CMakeLists.txt b/rclc/autodiscover_agent/CMakeLists.txt
index d43c4dc..f169d13 100644
--- a/rclc/autodiscover_agent/CMakeLists.txt
+++ b/rclc/autodiscover_agent/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(autodiscover_agent LANGUAGES C)
 
@@ -8,21 +8,17 @@ find_package(rclc REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(microxrcedds_client REQUIRED)
 find_package(rmw_microxrcedds REQUIRED)
-find_package(microxrcedds_client REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-target_link_libraries(${PROJECT_NAME}
-  microxrcedds_client
-)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
 
-ament_target_dependencies(${PROJECT_NAME}
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
   microxrcedds_client
   rmw_microxrcedds
-  microxrcedds_client
   )
 
 install(TARGETS ${PROJECT_NAME}
diff --git a/rclc/cmake/ament_target_dependencies_compat.cmake b/rclc/cmake/ament_target_dependencies_compat.cmake
new file mode 100644
index 0000000..7bf2281
--- /dev/null
+++ b/rclc/cmake/ament_target_dependencies_compat.cmake
@@ -0,0 +1,19 @@
+# ament_cmake no longer provides ament_target_dependencies(). This links each
+# named dependency's modern imported target if it exists, falling back to the
+# classic <dep>_INCLUDE_DIRS / <dep>_LIBRARIES variables otherwise.
+macro(ament_target_dependencies_compat _target)
+  foreach(_dep ${ARGN})
+    if(TARGET ${_dep}::${_dep})
+      target_link_libraries(${_target} ${_dep}::${_dep})
+    elseif(TARGET ${_dep})
+      target_link_libraries(${_target} ${_dep})
+    else()
+      if(${_dep}_INCLUDE_DIRS)
+        target_include_directories(${_target} PUBLIC ${${_dep}_INCLUDE_DIRS})
+      endif()
+      if(${_dep}_LIBRARIES)
+        target_link_libraries(${_target} ${${_dep}_LIBRARIES})
+      endif()
+    endif()
+  endforeach()
+endmacro()
diff --git a/rclc/complex_msg_publisher/CMakeLists.txt b/rclc/complex_msg_publisher/CMakeLists.txt
index 46e0a9b..e568d37 100644
--- a/rclc/complex_msg_publisher/CMakeLists.txt
+++ b/rclc/complex_msg_publisher/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(complex_msg_publisher LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   complex_msgs
diff --git a/rclc/complex_msg_subscriber/CMakeLists.txt b/rclc/complex_msg_subscriber/CMakeLists.txt
index 87fbd7b..fe7d4fc 100644
--- a/rclc/complex_msg_subscriber/CMakeLists.txt
+++ b/rclc/complex_msg_subscriber/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(complex_msg_subscriber LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   complex_msgs
@@ -20,4 +22,3 @@ ament_target_dependencies(${PROJECT_NAME}
 install(TARGETS ${PROJECT_NAME}
   DESTINATION ${PROJECT_NAME}
   )
-
diff --git a/rclc/configuration_example/configured_publisher/CMakeLists.txt b/rclc/configuration_example/configured_publisher/CMakeLists.txt
index 3545249..a1143ad 100644
--- a/rclc/configuration_example/configured_publisher/CMakeLists.txt
+++ b/rclc/configuration_example/configured_publisher/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(configured_publisher LANGUAGES C)
 
@@ -11,11 +11,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-target_link_libraries(${PROJECT_NAME}
-  microxrcedds_client
-)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/ament_target_dependencies_compat.cmake)
 
-ament_target_dependencies(${PROJECT_NAME}
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
@@ -26,4 +24,3 @@ ament_target_dependencies(${PROJECT_NAME}
 install(TARGETS ${PROJECT_NAME}
   DESTINATION ${PROJECT_NAME}
   )
-  
\ No newline at end of file
diff --git a/rclc/configuration_example/configured_subscriber/CMakeLists.txt b/rclc/configuration_example/configured_subscriber/CMakeLists.txt
index f52a1b7..a2702de 100644
--- a/rclc/configuration_example/configured_subscriber/CMakeLists.txt
+++ b/rclc/configuration_example/configured_subscriber/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(configured_subscriber LANGUAGES C)
 
@@ -11,11 +11,9 @@ find_package(microxrcedds_client REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-target_link_libraries(${PROJECT_NAME}
-  microxrcedds_client
-)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/ament_target_dependencies_compat.cmake)
 
-ament_target_dependencies(${PROJECT_NAME}
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
@@ -26,4 +24,3 @@ ament_target_dependencies(${PROJECT_NAME}
 install(TARGETS ${PROJECT_NAME}
   DESTINATION ${PROJECT_NAME}
   )
-  
\ No newline at end of file
diff --git a/rclc/configuration_example/custom_transports/CMakeLists.txt b/rclc/configuration_example/custom_transports/CMakeLists.txt
index 917aa66..e926a67 100644
--- a/rclc/configuration_example/custom_transports/CMakeLists.txt
+++ b/rclc/configuration_example/custom_transports/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(custom_transports LANGUAGES C)
 
@@ -11,11 +11,9 @@ find_package(microxrcedds_client REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-target_link_libraries(${PROJECT_NAME}
-  microxrcedds_client
-)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/ament_target_dependencies_compat.cmake)
 
-ament_target_dependencies(${PROJECT_NAME}
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
@@ -33,4 +31,3 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
 install(TARGETS ${PROJECT_NAME}
   DESTINATION ${PROJECT_NAME}
   )
-  
\ No newline at end of file
diff --git a/rclc/epoch_synchronization/CMakeLists.txt b/rclc/epoch_synchronization/CMakeLists.txt
index cb85a60..1fc1c2b 100644
--- a/rclc/epoch_synchronization/CMakeLists.txt
+++ b/rclc/epoch_synchronization/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(epoch_synchronization LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/fibonacci_action_client/CMakeLists.txt b/rclc/fibonacci_action_client/CMakeLists.txt
index 97a5e8c..8bf3c6d 100644
--- a/rclc/fibonacci_action_client/CMakeLists.txt
+++ b/rclc/fibonacci_action_client/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(fibonacci_action_client LANGUAGES C)
 
@@ -11,7 +11,9 @@ find_package(Threads REQUIRED)
 add_executable(${PROJECT_NAME} main.c)
 target_link_libraries(${PROJECT_NAME} Threads::Threads)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   example_interfaces
diff --git a/rclc/fibonacci_action_server/CMakeLists.txt b/rclc/fibonacci_action_server/CMakeLists.txt
index 01ef271..281f37a 100644
--- a/rclc/fibonacci_action_server/CMakeLists.txt
+++ b/rclc/fibonacci_action_server/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(fibonacci_action_server LANGUAGES C)
 
@@ -11,7 +11,9 @@ find_package(Threads REQUIRED)
 add_executable(${PROJECT_NAME} main.c)
 target_link_libraries(${PROJECT_NAME} Threads::Threads)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   example_interfaces
diff --git a/rclc/fragmented_publication/CMakeLists.txt b/rclc/fragmented_publication/CMakeLists.txt
index c42b092..c0d658c 100644
--- a/rclc/fragmented_publication/CMakeLists.txt
+++ b/rclc/fragmented_publication/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(fragmented_publication LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/fragmented_subscription/CMakeLists.txt b/rclc/fragmented_subscription/CMakeLists.txt
index 99cd353..4bc5533 100644
--- a/rclc/fragmented_subscription/CMakeLists.txt
+++ b/rclc/fragmented_subscription/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(fragmented_subscription LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/graph_introspection/graph_visualizer/CMakeLists.txt b/rclc/graph_introspection/graph_visualizer/CMakeLists.txt
index e3e62ca..eb97885 100644
--- a/rclc/graph_introspection/graph_visualizer/CMakeLists.txt
+++ b/rclc/graph_introspection/graph_visualizer/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(graph_visualizer LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/graph_introspection/publisher_count/CMakeLists.txt b/rclc/graph_introspection/publisher_count/CMakeLists.txt
index 320ff70..0f3d8e8 100644
--- a/rclc/graph_introspection/publisher_count/CMakeLists.txt
+++ b/rclc/graph_introspection/publisher_count/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(publisher_count LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   rcl_interfaces
diff --git a/rclc/graph_introspection/subscription_count/CMakeLists.txt b/rclc/graph_introspection/subscription_count/CMakeLists.txt
index ec5178b..d4bdb0f 100644
--- a/rclc/graph_introspection/subscription_count/CMakeLists.txt
+++ b/rclc/graph_introspection/subscription_count/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(subscription_count LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   rcl_interfaces
diff --git a/rclc/int32_multinode/CMakeLists.txt b/rclc/int32_multinode/CMakeLists.txt
index 129b2df..6cea685 100644
--- a/rclc/int32_multinode/CMakeLists.txt
+++ b/rclc/int32_multinode/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(int32_multinode LANGUAGES C)
 
@@ -9,7 +9,9 @@ find_package(std_msgs REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/int32_publisher/CMakeLists.txt b/rclc/int32_publisher/CMakeLists.txt
index 44f0183..d4fa5c0 100644
--- a/rclc/int32_publisher/CMakeLists.txt
+++ b/rclc/int32_publisher/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(int32_publisher LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/int32_publisher_subscriber/CMakeLists.txt b/rclc/int32_publisher_subscriber/CMakeLists.txt
index b8158a5..701cc78 100644
--- a/rclc/int32_publisher_subscriber/CMakeLists.txt
+++ b/rclc/int32_publisher_subscriber/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(int32_publisher_subscriber LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/int32_subscriber/CMakeLists.txt b/rclc/int32_subscriber/CMakeLists.txt
index 0beac54..c21e65e 100644
--- a/rclc/int32_subscriber/CMakeLists.txt
+++ b/rclc/int32_subscriber/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(int32_subscriber LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/multithread_publisher_subscriber/CMakeLists.txt b/rclc/multithread_publisher_subscriber/CMakeLists.txt
index fd92572..ce4e86e 100644
--- a/rclc/multithread_publisher_subscriber/CMakeLists.txt
+++ b/rclc/multithread_publisher_subscriber/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(multithread_publisher_subscriber LANGUAGES C)
 
@@ -13,7 +13,9 @@ find_package(Threads REQUIRED)
 add_executable(${PROJECT_NAME} main.c)
 target_link_libraries(${PROJECT_NAME} Threads::Threads)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/parameter_server/CMakeLists.txt b/rclc/parameter_server/CMakeLists.txt
index d9a46dd..87db532 100644
--- a/rclc/parameter_server/CMakeLists.txt
+++ b/rclc/parameter_server/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(parameter_server LANGUAGES C)
 
@@ -11,7 +11,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   rclc_parameter
diff --git a/rclc/ping_pong/CMakeLists.txt b/rclc/ping_pong/CMakeLists.txt
index 541f6d1..34a247c 100644
--- a/rclc/ping_pong/CMakeLists.txt
+++ b/rclc/ping_pong/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(ping_pong LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/ping_uros_agent/CMakeLists.txt b/rclc/ping_uros_agent/CMakeLists.txt
index 96394b4..69d27ed 100644
--- a/rclc/ping_uros_agent/CMakeLists.txt
+++ b/rclc/ping_uros_agent/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(ping_uros_agent LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(std_msgs REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   rmw_microxrcedds
diff --git a/rclc/static_type_handling/CMakeLists.txt b/rclc/static_type_handling/CMakeLists.txt
index 9adf7df..70a2017 100644
--- a/rclc/static_type_handling/CMakeLists.txt
+++ b/rclc/static_type_handling/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(static_type_handling LANGUAGES C)
 
@@ -14,7 +14,9 @@ find_package(sensor_msgs REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   sensor_msgs
diff --git a/rclc/string_publisher/CMakeLists.txt b/rclc/string_publisher/CMakeLists.txt
index 87c2a05..f9f2fd0 100644
--- a/rclc/string_publisher/CMakeLists.txt
+++ b/rclc/string_publisher/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(string_publisher LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/string_subscriber/CMakeLists.txt b/rclc/string_subscriber/CMakeLists.txt
index 4d4236d..68ce71a 100644
--- a/rclc/string_subscriber/CMakeLists.txt
+++ b/rclc/string_subscriber/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(string_subscriber LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
diff --git a/rclc/timer/CMakeLists.txt b/rclc/timer/CMakeLists.txt
index 92b6f19..2b431e1 100644
--- a/rclc/timer/CMakeLists.txt
+++ b/rclc/timer/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(timer LANGUAGES C)
 
@@ -10,7 +10,9 @@ find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-ament_target_dependencies(${PROJECT_NAME}
+include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ament_target_dependencies_compat.cmake)
+
+ament_target_dependencies_compat(${PROJECT_NAME}
   rcl
   rclc
   std_msgs