diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index c5092071e..f32797648 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.5)
 project(rcl)
 
 find_package(ament_cmake_ros REQUIRED)
+find_package(ament_cmake_gen_version_h REQUIRED)
 
 find_package(libyaml_vendor REQUIRED)
 find_package(rcl_interfaces REQUIRED)
@@ -147,6 +148,7 @@ ament_export_dependencies(rmw)
 ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(type_description_interfaces)
+ament_generate_version_header(${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/rcl/package.xml b/rcl/package.xml
index a6d23238d..141458fbf 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -16,6 +16,7 @@
   <author email="jacob@openrobotics.org">Jacob Perron</author>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <build_export_depend>rmw</build_export_depend>
 
diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt
index 241259a0f..9055f1147 100644
--- a/rcl_action/CMakeLists.txt
+++ b/rcl_action/CMakeLists.txt
@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.5)
 project(rcl_action)
 
 find_package(ament_cmake_ros REQUIRED)
+find_package(ament_cmake_gen_version_h REQUIRED)
 
 find_package(action_msgs REQUIRED)
 find_package(rcl REQUIRED)
@@ -223,4 +224,6 @@ ament_export_dependencies(rcl)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rosidl_runtime_c)
 
+ament_generate_version_header(${PROJECT_NAME})
+
 ament_package()
diff --git a/rcl_action/package.xml b/rcl_action/package.xml
index f2aa97f17..3694c9b38 100644
--- a/rcl_action/package.xml
+++ b/rcl_action/package.xml
@@ -14,6 +14,7 @@
   <author email="jacob@openrobotics.org">Jacob Perron</author>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <depend>action_msgs</depend>
   <depend>rcl</depend>
diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt
index e5d5d0ace..54077b3a5 100644
--- a/rcl_lifecycle/CMakeLists.txt
+++ b/rcl_lifecycle/CMakeLists.txt
@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.5)
 project(rcl_lifecycle)
 
 find_package(ament_cmake_ros REQUIRED)
+find_package(ament_cmake_gen_version_h REQUIRED)
 
 find_package(lifecycle_msgs REQUIRED)
 find_package(rcl REQUIRED)
@@ -134,6 +135,8 @@ ament_export_targets(${PROJECT_NAME})
 ament_export_dependencies(lifecycle_msgs)
 ament_export_dependencies(rcl)
 
+ament_generate_version_header(${PROJECT_NAME})
+
 ament_package()
 
 install(
diff --git a/rcl_lifecycle/package.xml b/rcl_lifecycle/package.xml
index f3ad16fee..6af7768fd 100644
--- a/rcl_lifecycle/package.xml
+++ b/rcl_lifecycle/package.xml
@@ -15,6 +15,7 @@
   <author email="karsten@openrobotics.org">Karsten Knese</author>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <build_depend>lifecycle_msgs</build_depend>
   <build_depend>rcl</build_depend>
diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
index 2315a6432..9177967dd 100644
--- a/rcl_yaml_param_parser/CMakeLists.txt
+++ b/rcl_yaml_param_parser/CMakeLists.txt
@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.5)
 project(rcl_yaml_param_parser)
 
 find_package(ament_cmake_ros REQUIRED)
+find_package(ament_cmake_gen_version_h REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(libyaml_vendor REQUIRED)
@@ -210,6 +211,8 @@ ament_export_targets(${PROJECT_NAME})
 
 ament_export_dependencies(ament_cmake rcutils)
 
+ament_generate_version_header(${PROJECT_NAME})
+
 install(
   DIRECTORY include/
   DESTINATION include/${PROJECT_NAME}
diff --git a/rcl_yaml_param_parser/package.xml b/rcl_yaml_param_parser/package.xml
index a7c3f8c0c..f882aee20 100644
--- a/rcl_yaml_param_parser/package.xml
+++ b/rcl_yaml_param_parser/package.xml
@@ -15,6 +15,7 @@
   <author email="jacob@openrobotics.org">Jacob Perron</author>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <depend>libyaml_vendor</depend>
   <depend>rcutils</depend>