diff --git a/rosidl_typesupport_introspection_c/CMakeLists.txt b/rosidl_typesupport_introspection_c/CMakeLists.txt
index 8167725f9..83cf87a1d 100644
--- a/rosidl_typesupport_introspection_c/CMakeLists.txt
+++ b/rosidl_typesupport_introspection_c/CMakeLists.txt
@@ -40,6 +40,10 @@ ament_index_register_resource("rosidl_runtime_packages")
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  find_package(rosidl_typesupport_interface REQUIRED)
+  # Give cppcheck hints about macro definitions coming from outside this package
+  get_target_property(
+    ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS rosidl_typesupport_interface::rosidl_typesupport_interface INTERFACE_INCLUDE_DIRECTORIES)
   ament_lint_auto_find_test_dependencies()
 endif()
 
diff --git a/rosidl_typesupport_introspection_cpp/CMakeLists.txt b/rosidl_typesupport_introspection_cpp/CMakeLists.txt
index c1d8b83cd..238e78c55 100644
--- a/rosidl_typesupport_introspection_cpp/CMakeLists.txt
+++ b/rosidl_typesupport_introspection_cpp/CMakeLists.txt
@@ -45,6 +45,10 @@ ament_index_register_resource("rosidl_runtime_packages")
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  find_package(rosidl_typesupport_interface REQUIRED)
+  # Give cppcheck hints about macro definitions coming from outside this package
+  get_target_property(
+    ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS rosidl_typesupport_interface::rosidl_typesupport_interface INTERFACE_INCLUDE_DIRECTORIES)
   ament_lint_auto_find_test_dependencies()
 endif()