diff --git a/ament_cmake/CMakeLists.txt b/ament_cmake/CMakeLists.txt
index 82d72aee..a876026f 100644
--- a/ament_cmake/CMakeLists.txt
+++ b/ament_cmake/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake NONE)
 
diff --git a/ament_cmake_auto/CMakeLists.txt b/ament_cmake_auto/CMakeLists.txt
index fb35123e..822b5878 100644
--- a/ament_cmake_auto/CMakeLists.txt
+++ b/ament_cmake_auto/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_auto NONE)
 
diff --git a/ament_cmake_core/CMakeLists.txt b/ament_cmake_core/CMakeLists.txt
index 959ca0aa..5eaf4773 100644
--- a/ament_cmake_core/CMakeLists.txt
+++ b/ament_cmake_core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_core NONE)
 
diff --git a/ament_cmake_core/ament_cmake_package_templates-extras.cmake b/ament_cmake_core/ament_cmake_package_templates-extras.cmake
index fbf085f4..24f34884 100644
--- a/ament_cmake_core/ament_cmake_package_templates-extras.cmake
+++ b/ament_cmake_core/ament_cmake_package_templates-extras.cmake
@@ -13,10 +13,9 @@
 # limitations under the License.
 
 # extract information from ament_package.templates
-if(NOT PYTHON_EXECUTABLE)
+if(NOT TARGET Python3::Interpreter)
   message(FATAL_ERROR
-    "ament_cmake_package_templates: variable 'PYTHON_EXECUTABLE' must not be "
-    "empty")
+    "ament_cmake_package_templates: target 'Python3::Interpreter' must exist")
 endif()
 
 # stamp script to generate CMake code
@@ -27,8 +26,9 @@ stamp("${_generator}")
 # invoke generator script
 set(_generated_file
   "${CMAKE_CURRENT_BINARY_DIR}/ament_cmake_package_templates/templates.cmake")
+get_executable_path(_python_interpreter Python3::Interpreter CONFIGURE)
 set(_cmd
-  "${PYTHON_EXECUTABLE}"
+  "${_python_interpreter}"
   "${_generator}"
   "${_generated_file}"
 )
diff --git a/ament_cmake_core/cmake/core/ament_package_xml.cmake b/ament_cmake_core/cmake/core/ament_package_xml.cmake
index ae8bd46a..b829532d 100644
--- a/ament_cmake_core/cmake/core/ament_package_xml.cmake
+++ b/ament_cmake_core/cmake/core/ament_package_xml.cmake
@@ -75,12 +75,13 @@ macro(_ament_package_xml dest_dir)
 
   # extract information from package.xml
   file(MAKE_DIRECTORY ${dest_dir})
-  if(NOT PYTHON_EXECUTABLE)
+  if(NOT TARGET Python3::Interpreter)
     message(FATAL_ERROR
-      "ament_package_xml() variable 'PYTHON_EXECUTABLE' must not be empty")
+      "ament_package_xml() target 'Python3::Interpreter' must exist")
   endif()
+  get_executable_path(_python_interpreter Python3::Interpreter CONFIGURE)
   set(_cmd
-    "${PYTHON_EXECUTABLE}"
+    "${_python_interpreter}"
     "${ament_cmake_core_DIR}/core/package_xml_2_cmake.py"
     "${PACKAGE_XML_DIRECTORY}/package.xml"
     "${dest_dir}/package.cmake"
diff --git a/ament_cmake_core/cmake/core/python.cmake b/ament_cmake_core/cmake/core/python.cmake
index 51389270..7583a0fc 100644
--- a/ament_cmake_core/cmake/core/python.cmake
+++ b/ament_cmake_core/cmake/core/python.cmake
@@ -12,12 +12,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-set(PYTHON_VERSION "" CACHE STRING
-  "Specify specific Python version to use ('major.minor' or 'major')")
-# if not specified otherwise use Python 3
-if(NOT PYTHON_VERSION)
-  set(PYTHON_VERSION "3")
+# ament_cmake needs a Python 3 interpreter
+# If a specific Python version is required then find it before finding ament_cmake
+# Example:
+#   find_package(Python3 3.8 REQUIRED)
+#   find_package(ament_cmake REQUIRED)
+if (NOT TARGET Python3::Interpreter)
+  find_package(Python3 REQUIRED COMPONENTS Interpreter)
 endif()
-
-find_package(PythonInterp ${PYTHON_VERSION} REQUIRED)
-message(STATUS "Using PYTHON_EXECUTABLE: ${PYTHON_EXECUTABLE}")
diff --git a/ament_cmake_core/cmake/environment/ament_generate_environment.cmake b/ament_cmake_core/cmake/environment/ament_generate_environment.cmake
index 4cc20c54..dabfa7bd 100644
--- a/ament_cmake_core/cmake/environment/ament_generate_environment.cmake
+++ b/ament_cmake_core/cmake/environment/ament_generate_environment.cmake
@@ -23,6 +23,14 @@ function(ament_generate_environment)
       "ament_generate_environment() called with unused arguments: ${ARGN}")
   endif()
 
+  if(NOT TARGET Python3::Interpreter)
+    message(FATAL_ERROR
+      "ament_generate_environment() target 'Python3::Interpreter' must exist")
+  endif()
+
+  # Default python used in local_setup.* scripts
+  get_executable_path(ament_package_PYTHON_EXECUTABLE Python3::Interpreter CONFIGURE)
+
   # configure and install setup files
   foreach(file ${ament_cmake_package_templates_PREFIX_LEVEL})
     # check if the file is a template
diff --git a/ament_cmake_export_definitions/CMakeLists.txt b/ament_cmake_export_definitions/CMakeLists.txt
index deb66334..5dbe6f7d 100644
--- a/ament_cmake_export_definitions/CMakeLists.txt
+++ b/ament_cmake_export_definitions/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_export_definitions NONE)
 
diff --git a/ament_cmake_export_dependencies/CMakeLists.txt b/ament_cmake_export_dependencies/CMakeLists.txt
index f65f7201..e4b9feb2 100644
--- a/ament_cmake_export_dependencies/CMakeLists.txt
+++ b/ament_cmake_export_dependencies/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_export_dependencies NONE)
 
diff --git a/ament_cmake_export_include_directories/CMakeLists.txt b/ament_cmake_export_include_directories/CMakeLists.txt
index d7912e47..f9505d22 100644
--- a/ament_cmake_export_include_directories/CMakeLists.txt
+++ b/ament_cmake_export_include_directories/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_export_include_directories NONE)
 
diff --git a/ament_cmake_export_interfaces/CMakeLists.txt b/ament_cmake_export_interfaces/CMakeLists.txt
index f3f724cd..69df43e5 100644
--- a/ament_cmake_export_interfaces/CMakeLists.txt
+++ b/ament_cmake_export_interfaces/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_export_interfaces NONE)
 
diff --git a/ament_cmake_export_libraries/CMakeLists.txt b/ament_cmake_export_libraries/CMakeLists.txt
index b0e756ab..f4994335 100644
--- a/ament_cmake_export_libraries/CMakeLists.txt
+++ b/ament_cmake_export_libraries/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_export_libraries NONE)
 
diff --git a/ament_cmake_export_link_flags/CMakeLists.txt b/ament_cmake_export_link_flags/CMakeLists.txt
index c93783aa..1f4244cc 100644
--- a/ament_cmake_export_link_flags/CMakeLists.txt
+++ b/ament_cmake_export_link_flags/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_export_link_flags NONE)
 
diff --git a/ament_cmake_export_targets/CMakeLists.txt b/ament_cmake_export_targets/CMakeLists.txt
index b13ef0c7..c31eeef2 100644
--- a/ament_cmake_export_targets/CMakeLists.txt
+++ b/ament_cmake_export_targets/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_export_targets NONE)
 
diff --git a/ament_cmake_gmock/CMakeLists.txt b/ament_cmake_gmock/CMakeLists.txt
index 6003d2f1..a41e3f93 100644
--- a/ament_cmake_gmock/CMakeLists.txt
+++ b/ament_cmake_gmock/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_gmock NONE)
 
diff --git a/ament_cmake_google_benchmark/CMakeLists.txt b/ament_cmake_google_benchmark/CMakeLists.txt
index 51e24dc3..60bb4663 100644
--- a/ament_cmake_google_benchmark/CMakeLists.txt
+++ b/ament_cmake_google_benchmark/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 project(ament_cmake_google_benchmark NONE)
 
 # find dependencies
diff --git a/ament_cmake_google_benchmark/cmake/ament_add_google_benchmark_test.cmake b/ament_cmake_google_benchmark/cmake/ament_add_google_benchmark_test.cmake
index 5539f0d0..1321012e 100644
--- a/ament_cmake_google_benchmark/cmake/ament_add_google_benchmark_test.cmake
+++ b/ament_cmake_google_benchmark/cmake/ament_add_google_benchmark_test.cmake
@@ -66,11 +66,13 @@ function(ament_add_google_benchmark_test target)
     set(OVERLAY_ARG "--result-file-overlay" "${AMENT_CMAKE_GOOGLE_BENCHMARK_OVERLAY}")
   endif()
 
+  get_executable_path(python_interpreter Python3::Interpreter BUILD)
+
   set(executable "$<TARGET_FILE:${target}>")
   set(benchmark_out "${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${target}.google_benchmark.json")
   set(common_out "${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${target}.benchmark.json")
   set(cmd
-    "${PYTHON_EXECUTABLE}" "-u" "${ament_cmake_google_benchmark_DIR}/run_and_convert.py"
+    "${python_interpreter}" "-u" "${ament_cmake_google_benchmark_DIR}/run_and_convert.py"
     "${benchmark_out}" "${common_out}" "--package-name" "${PROJECT_NAME}"
     ${OVERLAY_ARG}
     "--command" "${executable}"
diff --git a/ament_cmake_gtest/CMakeLists.txt b/ament_cmake_gtest/CMakeLists.txt
index ec64bfd1..04c65c8b 100644
--- a/ament_cmake_gtest/CMakeLists.txt
+++ b/ament_cmake_gtest/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_gtest NONE)
 
diff --git a/ament_cmake_include_directories/CMakeLists.txt b/ament_cmake_include_directories/CMakeLists.txt
index e423ac3f..7b4a43a7 100644
--- a/ament_cmake_include_directories/CMakeLists.txt
+++ b/ament_cmake_include_directories/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_include_directories NONE)
 
diff --git a/ament_cmake_libraries/CMakeLists.txt b/ament_cmake_libraries/CMakeLists.txt
index 57ffba3b..20092c42 100644
--- a/ament_cmake_libraries/CMakeLists.txt
+++ b/ament_cmake_libraries/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_libraries NONE)
 
diff --git a/ament_cmake_nose/CMakeLists.txt b/ament_cmake_nose/CMakeLists.txt
index 47939d58..1d802092 100644
--- a/ament_cmake_nose/CMakeLists.txt
+++ b/ament_cmake_nose/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_nose NONE)
 
diff --git a/ament_cmake_nose/ament_cmake_nose-extras.cmake b/ament_cmake_nose/ament_cmake_nose-extras.cmake
index ca116be0..86284363 100644
--- a/ament_cmake_nose/ament_cmake_nose-extras.cmake
+++ b/ament_cmake_nose/ament_cmake_nose-extras.cmake
@@ -23,15 +23,16 @@ macro(_ament_cmake_nose_find_nosetests)
     find_package(ament_cmake_test QUIET REQUIRED)
 
     find_program(NOSETESTS NAMES
-      "nosetests${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}"
-      "nosetests-${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}"
-      "nosetests${PYTHON_VERSION_MAJOR}"
-      "nosetests-${PYTHON_VERSION_MAJOR}"
+      "nosetests${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}"
+      "nosetests-${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}"
+      "nosetests${Python3_VERSION_MAJOR}"
+      "nosetests-${Python3_VERSION_MAJOR}"
       "nosetests")
     if(NOSETESTS)
       # if Python is located in a path containing spaces the shebang line of nosetests is invalid
       # to avoid using the shebang line of nosetests the script is being invoked through Python
-      set(_cmd "${PYTHON_EXECUTABLE}" "${NOSETESTS}" "--version")
+      get_executable_path(_python_interpreter Python3::Interpreter CONFIGURE)
+      set(_cmd "${_python_interpreter}" "${NOSETESTS}" "--version")
       execute_process(
         COMMAND ${_cmd}
         RESULT_VARIABLE _res
@@ -49,14 +50,9 @@ macro(_ament_cmake_nose_find_nosetests)
       list(GET _output_list 1 NOSETESTS_VERSION)
       message(STATUS "Using Python nosetests: ${NOSETESTS} (${NOSETESTS_VERSION})")
     else()
-      if(PYTHON_VERSION_MAJOR STREQUAL "3")
-        set(_python_nosetests_package "python3-nose")
-      else()
-        set(_python_nosetests_package "python-nose")
-      endif()
       message(WARNING
         "'nosetests' not found, Python nose tests can not be run (e.g. on "
-        "Ubuntu/Debian install the package '${_python_nosetests_package}')")
+        "Ubuntu/Debian install the package 'python3-nose')")
     endif()
   endif()
 endmacro()
diff --git a/ament_cmake_nose/cmake/ament_add_nose_test.cmake b/ament_cmake_nose/cmake/ament_add_nose_test.cmake
index ca89b7f9..07f5e74b 100644
--- a/ament_cmake_nose/cmake/ament_add_nose_test.cmake
+++ b/ament_cmake_nose/cmake/ament_add_nose_test.cmake
@@ -22,8 +22,8 @@
 # :type path: string
 # :param SKIP_TEST: if set mark the test as being skipped
 # :type SKIP_TEST: option
-# :param PYTHON_EXECUTABLE: absolute path to the executable used to run the test,
-#   default to the CMake variable with the same name returned by FindPythonInterp
+# :param PYTHON_EXECUTABLE: Python executable used to run the test.
+#   It defaults to the CMake executable target Python3::Interpreter.
 # :type PYTHON_EXECUTABLE: string
 # :param RUNNER: the path to the test runner script (default: see ament_add_test).
 # :type RUNNER: string
@@ -72,7 +72,7 @@ function(_ament_add_nose_test testname path)
       "ament_add_nose_test() the path '${path}' does not exist")
   endif()
   if(NOT ARG_PYTHON_EXECUTABLE)
-    set(ARG_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+    set(ARG_PYTHON_EXECUTABLE Python3::Interpreter)
   endif()
 
   get_executable_path(python_interpreter "${ARG_PYTHON_EXECUTABLE}" BUILD)
diff --git a/ament_cmake_pytest/CMakeLists.txt b/ament_cmake_pytest/CMakeLists.txt
index cf3d6930..65fa8e82 100644
--- a/ament_cmake_pytest/CMakeLists.txt
+++ b/ament_cmake_pytest/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_pytest NONE)
 
diff --git a/ament_cmake_pytest/cmake/ament_add_pytest_test.cmake b/ament_cmake_pytest/cmake/ament_add_pytest_test.cmake
index 66c21783..fae9fe3f 100644
--- a/ament_cmake_pytest/cmake/ament_add_pytest_test.cmake
+++ b/ament_cmake_pytest/cmake/ament_add_pytest_test.cmake
@@ -22,8 +22,8 @@
 # :type path: string
 # :param SKIP_TEST: if set mark the test as being skipped
 # :type SKIP_TEST: option
-# :param PYTHON_EXECUTABLE: absolute path to the executable used to run the test,
-#   default to the CMake variable with the same name returned by FindPythonInterp
+# :param PYTHON_EXECUTABLE: Python executable used to run the test.
+#   It defaults to the CMake executable target Python3::Interpreter.
 # :type PYTHON_EXECUTABLE: string
 # :param RUNNER: the path to the test runner script (default: see ament_add_test).
 # :type RUNNER: string
@@ -68,7 +68,7 @@ function(ament_add_pytest_test testname path)
       "ament_add_pytest_test() the path '${path}' does not exist")
   endif()
   if(NOT ARG_PYTHON_EXECUTABLE)
-    set(ARG_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+    set(ARG_PYTHON_EXECUTABLE Python3::Interpreter)
   endif()
 
   get_executable_path(python_interpreter "${ARG_PYTHON_EXECUTABLE}" BUILD)
diff --git a/ament_cmake_pytest/cmake/ament_get_pytest_cov_version.cmake b/ament_cmake_pytest/cmake/ament_get_pytest_cov_version.cmake
index 482673f6..3804450d 100644
--- a/ament_cmake_pytest/cmake/ament_get_pytest_cov_version.cmake
+++ b/ament_cmake_pytest/cmake/ament_get_pytest_cov_version.cmake
@@ -17,9 +17,8 @@
 #
 # :param var: the output variable name
 # :type var: string
-# :param PYTHON_EXECUTABLE: absolute path to the Python interpreter to be used,
-#   default to the CMake variable with the same name returned by
-#   FindPythonInterp
+# :param PYTHON_EXECUTABLE: Python executable used to check the version
+#   It defaults to the CMake executable target Python3::Interpreter.
 # :type PYTHON_EXECUTABLE: string
 #
 # @public
@@ -32,7 +31,7 @@ function(ament_get_pytest_cov_version var)
   endif()
 
   if(NOT ARG_PYTHON_EXECUTABLE)
-    set(ARG_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+    set(ARG_PYTHON_EXECUTABLE Python3::Interpreter)
   endif()
 
   get_executable_path(python_interpreter "${ARG_PYTHON_EXECUTABLE}" CONFIGURE)
diff --git a/ament_cmake_pytest/cmake/ament_has_pytest.cmake b/ament_cmake_pytest/cmake/ament_has_pytest.cmake
index 4541db27..40d82c2b 100644
--- a/ament_cmake_pytest/cmake/ament_has_pytest.cmake
+++ b/ament_cmake_pytest/cmake/ament_has_pytest.cmake
@@ -20,9 +20,8 @@
 # :param QUIET: suppress the CMake warning if pytest is not found, if not set
 #   and pytest was not found a CMake warning is printed
 # :type QUIET: option
-# :param PYTHON_EXECUTABLE: absolute path to the Python interpreter to be used,
-#   default to the CMake variable with the same name returned by
-#   FindPythonInterp
+# :param PYTHON_EXECUTABLE: Python executable used to check for pytest
+#   It defaults to the CMake executable target Python3::Interpreter.
 # :type PYTHON_EXECUTABLE: string
 #
 # @public
@@ -35,7 +34,7 @@ function(ament_has_pytest var)
   endif()
 
   if(NOT ARG_PYTHON_EXECUTABLE)
-    set(ARG_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+    set(ARG_PYTHON_EXECUTABLE Python3::Interpreter)
   endif()
 
   get_executable_path(python_interpreter "${ARG_PYTHON_EXECUTABLE}" CONFIGURE)
diff --git a/ament_cmake_python/CMakeLists.txt b/ament_cmake_python/CMakeLists.txt
index 7e760c58..25d8b06c 100644
--- a/ament_cmake_python/CMakeLists.txt
+++ b/ament_cmake_python/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_python NONE)
 
diff --git a/ament_cmake_python/ament_cmake_python-extras.cmake b/ament_cmake_python/ament_cmake_python-extras.cmake
index 75c478b0..4034ae6b 100644
--- a/ament_cmake_python/ament_cmake_python-extras.cmake
+++ b/ament_cmake_python/ament_cmake_python-extras.cmake
@@ -48,9 +48,10 @@ macro(_ament_cmake_python_get_python_install_dir)
       "import os"
       "print(os.path.relpath(get_python_lib(prefix='${CMAKE_INSTALL_PREFIX}'), start='${CMAKE_INSTALL_PREFIX}').replace(os.sep, '/'))"
     )
+    get_executable_path(_python_interpreter Python3::Interpreter CONFIGURE)
     execute_process(
       COMMAND
-      "${PYTHON_EXECUTABLE}"
+      "${_python_interpreter}"
       "-c"
       "${_python_code}"
       OUTPUT_VARIABLE _output
@@ -59,7 +60,7 @@ macro(_ament_cmake_python_get_python_install_dir)
     )
     if(NOT _result EQUAL 0)
       message(FATAL_ERROR
-        "execute_process(${PYTHON_EXECUTABLE} -c '${_python_code}') returned "
+        "execute_process(${_python_interpreter} -c '${_python_code}') returned "
         "error code ${_result}")
     endif()
 
diff --git a/ament_cmake_python/cmake/ament_python_install_module.cmake b/ament_cmake_python/cmake/ament_python_install_module.cmake
index 6ce90895..6d61edcc 100644
--- a/ament_cmake_python/cmake/ament_python_install_module.cmake
+++ b/ament_cmake_python/cmake/ament_python_install_module.cmake
@@ -59,11 +59,12 @@ function(_ament_cmake_python_install_module module_file)
   )
   get_filename_component(module_file "${module_file}" NAME)
   if(NOT ARG_SKIP_COMPILE)
+    get_executable_path(python_interpreter Python3::Interpreter CONFIGURE)
     # compile Python files
     install(CODE
       "execute_process(
         COMMAND
-        \"${PYTHON_EXECUTABLE}\" \"-m\" \"compileall\"
+        \"${python_interpreter}\" \"-m\" \"compileall\"
         \"${CMAKE_INSTALL_PREFIX}/${destination}/${module_file}\"
       )"
     )
diff --git a/ament_cmake_python/cmake/ament_python_install_package.cmake b/ament_cmake_python/cmake/ament_python_install_package.cmake
index 7a593836..f5356da0 100644
--- a/ament_cmake_python/cmake/ament_python_install_package.cmake
+++ b/ament_cmake_python/cmake/ament_python_install_package.cmake
@@ -120,14 +120,16 @@ setup(
     list(APPEND egg_dependencies ament_cmake_python_symlink_${package_name}_setup)
   endif()
 
+  get_executable_path(python_interpreter Python3::Interpreter BUILD)
+
   add_custom_target(
     ament_cmake_python_build_${package_name}_egg ALL
-    COMMAND ${PYTHON_EXECUTABLE} setup.py egg_info
+    COMMAND ${python_interpreter} setup.py egg_info
     WORKING_DIRECTORY "${build_dir}"
     DEPENDS ${egg_dependencies}
   )
 
-  set(python_version "py${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
+  set(python_version "py${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}")
 
   set(egg_name "${package_name}")
   set(egg_install_name "${egg_name}-${ARG_VERSION}")
@@ -143,7 +145,7 @@ setup(
 
     add_custom_target(
       ament_cmake_python_build_${package_name}_scripts ALL
-      COMMAND ${PYTHON_EXECUTABLE} setup.py install_scripts -d scripts
+      COMMAND ${python_interpreter} setup.py install_scripts -d scripts
       WORKING_DIRECTORY "${build_dir}"
       DEPENDS ${egg_dependencies}
     )
@@ -168,11 +170,12 @@ setup(
   )
 
   if(NOT ARG_SKIP_COMPILE)
+    get_executable_path(python_interpreter_config Python3::Interpreter CONFIGURE)
     # compile Python files
     install(CODE
       "execute_process(
         COMMAND
-        \"${PYTHON_EXECUTABLE}\" \"-m\" \"compileall\"
+        \"${python_interpreter_config}\" \"-m\" \"compileall\"
         \"${CMAKE_INSTALL_PREFIX}/${ARG_DESTINATION}/${package_name}\"
       )"
     )
diff --git a/ament_cmake_target_dependencies/CMakeLists.txt b/ament_cmake_target_dependencies/CMakeLists.txt
index 5c842f54..0854fc68 100644
--- a/ament_cmake_target_dependencies/CMakeLists.txt
+++ b/ament_cmake_target_dependencies/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_target_dependencies NONE)
 
diff --git a/ament_cmake_test/CMakeLists.txt b/ament_cmake_test/CMakeLists.txt
index 7e332cf2..52ad290f 100644
--- a/ament_cmake_test/CMakeLists.txt
+++ b/ament_cmake_test/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_test NONE)
 
diff --git a/ament_cmake_test/cmake/ament_add_test.cmake b/ament_cmake_test/cmake/ament_add_test.cmake
index e4ea3f07..a7dcea35 100644
--- a/ament_cmake_test/cmake/ament_add_test.cmake
+++ b/ament_cmake_test/cmake/ament_add_test.cmake
@@ -83,8 +83,9 @@ function(ament_add_test testname)
     set(ARG_WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
   endif()
 
+  get_executable_path(python_interpreter Python3::Interpreter BUILD)
   # wrap command with run_test script to ensure test result generation
-  set(cmd_wrapper "${PYTHON_EXECUTABLE}" "-u" "${ARG_RUNNER}"
+  set(cmd_wrapper "${python_interpreter}" "-u" "${ARG_RUNNER}"
     "${ARG_RESULT_FILE}"
     "--package-name" "${PROJECT_NAME}")
   if(ARG_SKIP_TEST)
diff --git a/ament_cmake_version/CMakeLists.txt b/ament_cmake_version/CMakeLists.txt
index 8037285a..ac5c1bb2 100644
--- a/ament_cmake_version/CMakeLists.txt
+++ b/ament_cmake_version/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(ament_cmake_version NONE)