diff --git a/ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in b/ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
index 28d93f4d..bb8d53b3 100644
--- a/ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+++ b/ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
@@ -5,8 +5,14 @@ set(_exported_dependencies "@_AMENT_CMAKE_EXPORT_DEPENDENCIES@")
 # find_package() all dependencies
 # and append their DEFINITIONS INCLUDE_DIRS and LIBRARIES variables
 # to @PROJECT_NAME@_DEFINITIONS , @PROJECT_NAME@_INCLUDE_DIRS and
-# @PROJECT_NAME@_LIBRARIES
+# @PROJECT_NAME@_LIBRARIES.
+# Additionally collect the direct dependency names in
+# @PROJECT_NAME@_DEPENDENCIES as well as the recursive dependency names
+# in @PROJECT_NAME@_RECURSIVE_DEPENDENCIES.
 if(NOT "${_exported_dependencies} " STREQUAL " ")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  set(@PROJECT_NAME@_DEPENDENCIES ${_exported_dependencies})
+  set(@PROJECT_NAME@_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
   foreach(_dep ${_exported_dependencies})
     if(NOT ${_dep}_FOUND)
       find_package("${_dep}" QUIET REQUIRED)
@@ -20,5 +26,8 @@ if(NOT "${_exported_dependencies} " STREQUAL " ")
     if(${_dep}_LIBRARIES)
       list(APPEND @PROJECT_NAME@_LIBRARIES "${${_dep}_LIBRARIES}")
     endif()
+    if(${_dep}_RECURSIVE_DEPENDENCIES)
+      list_append_unique(@PROJECT_NAME@_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+    endif()
   endforeach()
 endif()