diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
index 71d0cf5f80..a34be3c672 100644
--- a/ackermann_steering_controller/CMakeLists.txt
+++ b/ackermann_steering_controller/CMakeLists.txt
@@ -24,6 +24,8 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
 
 generate_parameter_library(ackermann_steering_controller_parameters
   src/ackermann_steering_controller.yaml
diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
index 77d82ed874..6535a73260 100644
--- a/bicycle_steering_controller/CMakeLists.txt
+++ b/bicycle_steering_controller/CMakeLists.txt
@@ -24,6 +24,8 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
 
 generate_parameter_library(bicycle_steering_controller_parameters
   src/bicycle_steering_controller.yaml
diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
index d67815b5e0..70a54e302c 100644
--- a/diff_drive_controller/CMakeLists.txt
+++ b/diff_drive_controller/CMakeLists.txt
@@ -25,6 +25,8 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
 
 generate_parameter_library(diff_drive_controller_parameters
   src/diff_drive_controller_parameter.yaml
diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt
index b79236e23e..e2bfdbab71 100644
--- a/steering_controllers_library/CMakeLists.txt
+++ b/steering_controllers_library/CMakeLists.txt
@@ -30,6 +30,8 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
 
 generate_parameter_library(steering_controllers_library_parameters
   src/steering_controllers_library.yaml
diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt
index ea1c4db3c1..e264c1f258 100644
--- a/tricycle_controller/CMakeLists.txt
+++ b/tricycle_controller/CMakeLists.txt
@@ -29,6 +29,8 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
 
 generate_parameter_library(tricycle_controller_parameters
   src/tricycle_controller_parameter.yaml
diff --git a/tricycle_steering_controller/CMakeLists.txt b/tricycle_steering_controller/CMakeLists.txt
index 21604df0c4..92c2782092 100644
--- a/tricycle_steering_controller/CMakeLists.txt
+++ b/tricycle_steering_controller/CMakeLists.txt
@@ -24,6 +24,8 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
 
 generate_parameter_library(tricycle_steering_controller_parameters
   src/tricycle_steering_controller.yaml