diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index 9f18ad58..bb30693b 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -15,8 +15,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>nlohmann-json-dev</build_depend>
-  <build_depend>zenoh_cpp_vendor</build_depend>
-  <build_export_depend>zenoh_cpp_vendor</build_export_depend>
+  <build_depend version_gte="0.10.2">zenoh_cpp_vendor</build_depend>
+  <build_export_depend version_gte="0.10.2">zenoh_cpp_vendor</build_export_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>fastcdr</depend>
diff --git a/zenoh_security_tools/package.xml b/zenoh_security_tools/package.xml
index 9a5384ed..8c4a9bdf 100644
--- a/zenoh_security_tools/package.xml
+++ b/zenoh_security_tools/package.xml
@@ -15,7 +15,7 @@
   <depend>rmw</depend>
   <depend>rmw_security_common</depend>
   <depend>tinyxml2</depend>
-  <depend>zenoh_cpp_vendor</depend>
+  <depend version_gte="0.10.2">zenoh_cpp_vendor</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>