diff --git a/planning/planning_validator/CMakeLists.txt b/planning/planning_validator/CMakeLists.txt
index 34bdb695ae2c8..2d7a7441b81d1 100644
--- a/planning/planning_validator/CMakeLists.txt
+++ b/planning/planning_validator/CMakeLists.txt
@@ -36,14 +36,10 @@ rosidl_generate_interfaces(
 )
 
 # to use a message defined in the same package
-if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
-    rosidl_target_interfaces(planning_validator_component
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
-else()
-    rosidl_get_typesupport_target(
-            cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
-    target_link_libraries(planning_validator_component "${cpp_typesupport_target}")
-endif()
+rosidl_get_typesupport_target(
+  cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp"
+)
+target_link_libraries(planning_validator_component "${cpp_typesupport_target}")
 
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_planning_validator