diff --git a/rosidl_typesupport_c/package.xml b/rosidl_typesupport_c/package.xml
index 082c7c9e..0a50e904 100644
--- a/rosidl_typesupport_c/package.xml
+++ b/rosidl_typesupport_c/package.xml
@@ -12,6 +12,11 @@
   <build_depend>libpoco-dev</build_depend>
   <build_depend>poco_vendor</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
+  <!-- Add redundant dependencies from group rosidl_typesupport_c_packages for bloom -->
+  <build_depend>rosidl_typesupport_connext_c</build_depend>
+  <build_depend>rosidl_typesupport_introspection_c</build_depend>
+  <build_depend>rosidl_typesupport_opensplice_c</build_depend>
+  <!-- end of group rosidl_typesupport_c_packages for bloom -->
 
   <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
   <build_export_depend>rmw_implementation</build_export_depend>
diff --git a/rosidl_typesupport_cpp/package.xml b/rosidl_typesupport_cpp/package.xml
index e0b748f8..84e1d915 100644
--- a/rosidl_typesupport_cpp/package.xml
+++ b/rosidl_typesupport_cpp/package.xml
@@ -12,6 +12,11 @@
   <build_depend>libpoco-dev</build_depend>
   <build_depend>poco_vendor</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
+  <!-- Add redundant dependencies from group rosidl_typesupport_cpp_packages for bloom -->
+  <build_depend>rosidl_typesupport_connext_cpp</build_depend>
+  <build_depend>rosidl_typesupport_introspection_cpp</build_depend>
+  <build_depend>rosidl_typesupport_opensplice_cpp</build_depend>
+  <!-- end of group rosidl_typesupport_cpp_packages for bloom -->
 
   <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
   <build_export_depend>rmw_implementation</build_export_depend>