diff --git a/rosidl_generator_cpp/resource/msg__struct.hpp.em b/rosidl_generator_cpp/resource/msg__struct.hpp.em
index 02097f15e..6d1c1363b 100644
--- a/rosidl_generator_cpp/resource/msg__struct.hpp.em
+++ b/rosidl_generator_cpp/resource/msg__struct.hpp.em
@@ -377,8 +377,11 @@ template<typename ContainerAllocator>
 const @(MSG_TYPE_TO_CPP['wstring'])
 @(message.structure.namespaced_type.name)_<ContainerAllocator>::@(c.name) = u"@(escape_wstring(c.value))";
 @[ else ]@
+#if __cplusplus < 201703L
+// static constexpr member variable definitions are only needed in C++14 and below, deprecated in C++17
 template<typename ContainerAllocator>
 constexpr @(MSG_TYPE_TO_CPP[c.type.typename]) @(message.structure.namespaced_type.name)_<ContainerAllocator>::@(c.name);
+#endif  // __cplusplus < 201703L
 @[ end if]@
 @[ if c.name in msvc_common_macros]@
 #if defined(_WIN32)
diff --git a/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake b/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
index 406181d77..c44a136eb 100644
--- a/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+++ b/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
@@ -100,11 +100,12 @@ if(rosidl_generate_interfaces_LIBRARY_NAME)
 endif()
 set_property(TARGET ${rosidl_generate_interfaces_TARGET}${_target_suffix}
   PROPERTY DEFINE_SYMBOL "ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_BUILDING_DLL")
+set_property(TARGET ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  PROPERTY CXX_STANDARD 17)
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix} PROPERTIES
-    CXX_STANDARD 17
-    COMPILE_OPTIONS -Wall -Wextra -Wpedantic
-  )
+  target_compile_options(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PRIVATE -Wall -Wextra -Wpedantic)
 endif()
 
 target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}