diff --git a/cmake/rosidl_generator_mypy_generate_interfaces.cmake b/cmake/rosidl_generator_mypy_generate_interfaces.cmake
index 221d32a..d48eb14 100644
--- a/cmake/rosidl_generator_mypy_generate_interfaces.cmake
+++ b/cmake/rosidl_generator_mypy_generate_interfaces.cmake
@@ -1,7 +1,5 @@
 find_package(rmw REQUIRED)
 
-find_package(PythonInterp 3.6 REQUIRED)
-
 set(_output_path
   "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_mypy/${PROJECT_NAME}")
 set(_generated_pyi_files "")
diff --git a/package.xml b/package.xml
index b1ee3ca..cc45686 100644
--- a/package.xml
+++ b/package.xml
@@ -13,11 +13,13 @@
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
   <buildtool_export_depend>rosidl_generator_py</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_pycommon</buildtool_export_depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_export_depend>rmw</build_export_depend>
 
+  <exec_depend>rosidl_pycommon</exec_depend>
   <exec_depend>rosidl_cmake</exec_depend>
   <exec_depend>rosidl_generator_py</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
diff --git a/resource/_action.pyi.em b/resource/_action.pyi.em
index 2b64d4c..4def523 100644
--- a/resource/_action.pyi.em
+++ b/resource/_action.pyi.em
@@ -9,7 +9,7 @@ if generate_imports:
 }@
 @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 
 action_name = '_' + convert_camel_case_to_lower_case_underscore(action.namespaced_type.name)
 module_name = '_' + convert_camel_case_to_lower_case_underscore(interface_path.stem)
diff --git a/resource/_srv.pyi.em b/resource/_srv.pyi.em
index 29172b4..eec4d0c 100644
--- a/resource/_srv.pyi.em
+++ b/resource/_srv.pyi.em
@@ -9,7 +9,7 @@ if generate_imports:
 }@
 @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 
 service_name = '_' + convert_camel_case_to_lower_case_underscore(service.namespaced_type.name)
 module_name = '_' + convert_camel_case_to_lower_case_underscore(interface_path.stem)
diff --git a/rosidl_generator_mypy/__init__.py b/rosidl_generator_mypy/__init__.py
index 82acb2c..480b2aa 100644
--- a/rosidl_generator_mypy/__init__.py
+++ b/rosidl_generator_mypy/__init__.py
@@ -2,11 +2,6 @@
 import pathlib
 from typing import Dict, List, NamedTuple, Optional, Set, Tuple
 
-from rosidl_cmake import (
-    convert_camel_case_to_lower_case_underscore,
-    generate_files,
-    read_generator_arguments,
-)
 from rosidl_generator_py import generate_py_impl
 from rosidl_parser.definition import (
     AbstractNestedType,
@@ -21,6 +16,11 @@
     Service,
 )
 from rosidl_parser.parser import parse_idl_file
+from rosidl_pycommon import (
+    convert_camel_case_to_lower_case_underscore,
+    generate_files,
+    read_generator_arguments,
+)
 
 SPECIAL_NESTED_BASIC_TYPES = ["int", "float"]