diff --git a/include/ros1_bridge/factory.hpp b/include/ros1_bridge/factory.hpp
index f70f57f6..8959e89d 100755
--- a/include/ros1_bridge/factory.hpp
+++ b/include/ros1_bridge/factory.hpp
@@ -45,7 +45,7 @@ class Factory : public FactoryInterface
   {
     ts_lib_ = rclcpp::get_typesupport_library(ros2_type_name, "rosidl_typesupport_cpp");
     if (static_cast<bool>(ts_lib_)) {
-      type_support_ = rclcpp::get_typesupport_handle(
+      type_support_ = rclcpp::get_message_typesupport_handle(
         ros2_type_name, "rosidl_typesupport_cpp",
         *ts_lib_);
     }
diff --git a/package.xml b/package.xml
index 77773553..bbe1abf0 100644
--- a/package.xml
+++ b/package.xml
@@ -19,8 +19,8 @@
   <buildtool_depend>ament_index_python</buildtool_depend>
   <buildtool_depend>python3</buildtool_depend>
   <buildtool_depend>python3-catkin-pkg-modules</buildtool_depend>
-  <buildtool_depend>rosidl_cmake</buildtool_depend>
   <buildtool_depend>rosidl_parser</buildtool_depend>
+  <buildtool_depend>rosidl_pycommon</buildtool_depend>
 
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>libboost-dev</build_depend>
diff --git a/ros1_bridge/__init__.py b/ros1_bridge/__init__.py
index 7cc78d14..bc79e467 100644
--- a/ros1_bridge/__init__.py
+++ b/ros1_bridge/__init__.py
@@ -24,8 +24,8 @@
 import genmsg.msg_loader
 
 import rosidl_adapter.parser
-from rosidl_cmake import expand_template
 import rosidl_parser.parser
+from rosidl_pycommon import expand_template
 
 import yaml