diff --git a/rosidl_adapter/rosidl_adapter/resource/__init__.py b/rosidl_adapter/rosidl_adapter/resource/__init__.py
index ce3335853..b629021a1 100644
--- a/rosidl_adapter/rosidl_adapter/resource/__init__.py
+++ b/rosidl_adapter/rosidl_adapter/resource/__init__.py
@@ -18,6 +18,12 @@
 
 import em
 
+try:
+    from em import Configuration
+    em_has_configuration = True
+except ImportError:
+    em_has_configuration = False
+
 
 def expand_template(template_name, data, output_file, encoding='utf-8'):
     content = evaluate_template(template_name, data)
@@ -45,18 +51,31 @@ def evaluate_template(template_name, data):
 
     output = StringIO()
     try:
-        _interpreter = em.Interpreter(
-            output=output,
-            options={
-                em.BUFFERED_OPT: True,
-                em.RAW_OPT: True,
-            })
-
+        if em_has_configuration:
+            config = Configuration(
+                defaultRoot=template_path,
+                defaultStdout=output,
+                deleteOnError=True,
+                rawErrors=True,
+                useProxy=True)
+            _interpreter = em.Interpreter(
+                config=config,
+                dispatcher=False)
+        else:
+            _interpreter = em.Interpreter(
+                output=output,
+                options={
+                    em.BUFFERED_OPT: True,
+                    em.RAW_OPT: True,
+                })
         with open(template_path, 'r') as h:
             content = h.read()
         _interpreter.invoke(
             'beforeFile', name=template_name, file=h, locals=data)
-        _interpreter.string(content, template_path, locals=data)
+        if em_has_configuration:
+            _interpreter.string(content, locals=data)
+        else:
+            _interpreter.string(content, template_path, locals=data)
         _interpreter.invoke('afterFile')
 
         return output.getvalue()
@@ -66,7 +85,8 @@ def evaluate_template(template_name, data):
             file=sys.stderr)
         raise
     finally:
-        _interpreter.shutdown()
+        if _interpreter is not None:
+            _interpreter.shutdown()
         _interpreter = None
 
 
@@ -78,7 +98,10 @@ def _evaluate_template(template_name, **kwargs):
             'beforeInclude', name=template_path, file=h, locals=kwargs)
         content = h.read()
     try:
-        _interpreter.string(content, template_path, kwargs)
+        if em_has_configuration:
+            _interpreter.string(content, locals=kwargs)
+        else:
+            _interpreter.string(content, template_path, kwargs)
     except Exception as e:  # noqa: F841
         print(
             f"{e.__class__.__name__} processing template '{template_name}': "
diff --git a/rosidl_pycommon/rosidl_pycommon/__init__.py b/rosidl_pycommon/rosidl_pycommon/__init__.py
index 3fecd8c72..36d887113 100644
--- a/rosidl_pycommon/rosidl_pycommon/__init__.py
+++ b/rosidl_pycommon/rosidl_pycommon/__init__.py
@@ -20,6 +20,13 @@
 import sys
 
 import em
+
+try:
+    from em import Configuration
+    em_has_configuration = True
+except ImportError:
+    em_has_configuration = False
+
 from rosidl_parser.definition import IdlLocator
 from rosidl_parser.parser import parse_idl_file
 
@@ -146,20 +153,31 @@ def expand_template(
         template_basepath = template_name.parent
         template_name = template_name.name
 
-    global interpreter
-    output = StringIO()
-    interpreter = em.Interpreter(
-        output=output,
-        options={
-            em.BUFFERED_OPT: True,
-            em.RAW_OPT: True,
-        },
-    )
-
     global template_prefix_path
     template_prefix_path.append(template_basepath)
     template_path = get_template_path(template_name)
 
+    global interpreter
+    output = StringIO()
+    if em_has_configuration:
+        config = Configuration(
+            defaultRoot=template_path,
+            defaultStdout=output,
+            deleteOnError=True,
+            rawErrors=True,
+            useProxy=True)
+        interpreter = em.Interpreter(
+            config=config,
+            dispatcher=False)
+    else:
+        interpreter = em.Interpreter(
+            output=output,
+            options={
+                em.BUFFERED_OPT: True,
+                em.RAW_OPT: True,
+            },
+        )
+
     # create copy before manipulating
     data = dict(data)
     _add_helper_functions(data)
@@ -169,7 +187,10 @@ def expand_template(
             template_content = h.read()
             interpreter.invoke(
                 'beforeFile', name=template_name, file=h, locals=data)
-        interpreter.string(template_content, template_path, locals=data)
+        if em_has_configuration:
+            interpreter.string(template_content, locals=data)
+        else:
+            interpreter.string(template_content, template_path, locals=data)
         interpreter.invoke('afterFile')
     except Exception as e:  # noqa: F841
         if os.path.exists(output_file):
@@ -218,7 +239,10 @@ def _expand_template(template_name, **kwargs):
             'beforeInclude', name=str(template_path), file=h, locals=kwargs)
         content = h.read()
     try:
-        interpreter.string(content, str(template_path), kwargs)
+        if em_has_configuration:
+            interpreter.string(content, locals=kwargs)
+        else:
+            interpreter.string(content, template_path, locals=kwargs)
     except Exception as e:  # noqa: F841
         print(f"{e.__class__.__name__} in template '{template_path}': {e}",
               file=sys.stderr)