diff --git a/rosidl_typesupport_fastrtps_c/package.xml b/rosidl_typesupport_fastrtps_c/package.xml
index ea92ef6..9c09d08 100644
--- a/rosidl_typesupport_fastrtps_c/package.xml
+++ b/rosidl_typesupport_fastrtps_c/package.xml
@@ -30,7 +30,7 @@
   <build_export_depend>rosidl_typesupport_interface</build_export_depend>
 
   <!-- Needed for headers in this package, or the headers it generates, and also needs to be linked in downstream packages -->
-  <depend version_gte="2">fastcdr</depend>
+  <depend>fastcdr</depend>
   <depend>rmw</depend>
   <depend>rosidl_runtime_c</depend>
   <depend>rosidl_typesupport_fastrtps_cpp</depend>
diff --git a/rosidl_typesupport_fastrtps_cpp/package.xml b/rosidl_typesupport_fastrtps_cpp/package.xml
index 1976baa..e36a26c 100644
--- a/rosidl_typesupport_fastrtps_cpp/package.xml
+++ b/rosidl_typesupport_fastrtps_cpp/package.xml
@@ -32,7 +32,7 @@
   <build_export_depend>rosidl_typesupport_interface</build_export_depend>
 
   <!-- Needed for headers in this package, or the headers it generates, and also needs to be linked in downstream packages -->
-  <depend version_gte="2">fastcdr</depend>
+  <depend>fastcdr</depend>
   <depend>rmw</depend>
   <depend>rosidl_runtime_c</depend>