diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
index 0225cc8d8..c041bb524 100644
--- a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -111,6 +111,8 @@ PRIVATE "RMW_FASTRTPS_DYNAMIC_CPP_BUILDING_LIBRARY")
 ament_export_include_directories(include)
 ament_export_libraries(rmw_fastrtps_dynamic_cpp)
 
+ament_export_dependencies(rosidl_typesupport_fastrtps_c)
+ament_export_dependencies(rosidl_typesupport_fastrtps_cpp)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_generator_c)