diff --git a/rosidl_cmake/cmake/rosidl_target_interfaces.cmake b/rosidl_cmake/cmake/rosidl_target_interfaces.cmake
index 7aca8c68e..f3d08eb34 100644
--- a/rosidl_cmake/cmake/rosidl_target_interfaces.cmake
+++ b/rosidl_cmake/cmake/rosidl_target_interfaces.cmake
@@ -52,6 +52,8 @@ function(rosidl_target_interfaces target interface_target typesupport_name)
 
   add_dependencies(${target} ${interface_target})
   get_target_property(include_directories ${typesupport_target} INTERFACE_INCLUDE_DIRECTORIES)
-  target_include_directories(${target} PUBLIC ${include_directories})
+  if(${include_directories})
+    target_include_directories(${target} PUBLIC ${include_directories})
+  endif()
   target_link_libraries(${target} ${typesupport_target})
 endfunction()