diff --git a/rosidl_generator_dds_idl/package.xml b/rosidl_generator_dds_idl/package.xml
index 9b07d6d..3e77dd4 100644
--- a/rosidl_generator_dds_idl/package.xml
+++ b/rosidl_generator_dds_idl/package.xml
@@ -11,10 +11,10 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
-  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>rosidl_cli</exec_depend>
+  <exec_depend>rosidl_pycommon</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/rosidl_generator_dds_idl/resource/idl.idl.em b/rosidl_generator_dds_idl/resource/idl.idl.em
index c6c9a7e..abbe35d 100644
--- a/rosidl_generator_dds_idl/resource/idl.idl.em
+++ b/rosidl_generator_dds_idl/resource/idl.idl.em
@@ -29,7 +29,7 @@ from rosidl_parser.definition import Action
 from rosidl_parser.definition import Message
 from rosidl_parser.definition import Service
 
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 header_guard_parts = [package_name] + list(interface_path.parents[0].parts) + \
     [convert_camel_case_to_lower_case_underscore(interface_path.stem)] + \
     ['idl']
diff --git a/rosidl_generator_dds_idl/rosidl_generator_dds_idl/__init__.py b/rosidl_generator_dds_idl/rosidl_generator_dds_idl/__init__.py
index 1ffc21f..153358d 100644
--- a/rosidl_generator_dds_idl/rosidl_generator_dds_idl/__init__.py
+++ b/rosidl_generator_dds_idl/rosidl_generator_dds_idl/__init__.py
@@ -14,7 +14,6 @@
 
 import os
 
-from rosidl_cmake import generate_files
 from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractNestableType
 from rosidl_parser.definition import AbstractString
@@ -22,6 +21,7 @@
 from rosidl_parser.definition import BasicType
 from rosidl_parser.definition import FLOATING_POINT_TYPES
 from rosidl_parser.definition import NamespacedType
+from rosidl_pycommon import generate_files
 
 
 def generate_dds_idl(