diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt
index 316a1ec7a2..3e296cd584 100644
--- a/joint_limits/CMakeLists.txt
+++ b/joint_limits/CMakeLists.txt
@@ -62,5 +62,4 @@ install(TARGETS joint_limits
 ament_export_targets(export_joint_limits HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
-# TODO(anyone) uncomment if https://github.com/ament/ament_cmake/pull/526 is merged
-# ament_generate_version_header(${PROJECT_NAME})
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/joint_limits/package.xml b/joint_limits/package.xml
index aec1c44b76..29b32e9819 100644
--- a/joint_limits/package.xml
+++ b/joint_limits/package.xml
@@ -13,8 +13,7 @@
   <url type="repository">https://github.com/ros-controls/ros2_control</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <!-- TODO(anyone) uncomment if https://github.com/ament/ament_cmake/pull/526 is merged -->
-  <!-- <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend> -->
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>