diff --git a/bazel_ros2_rules/ros2/resources/templates/package_cc_library.bazel.tpl b/bazel_ros2_rules/ros2/resources/templates/package_cc_library.bazel.tpl
index c680d1dd..b268a8b1 100644
--- a/bazel_ros2_rules/ros2/resources/templates/package_cc_library.bazel.tpl
+++ b/bazel_ros2_rules/ros2/resources/templates/package_cc_library.bazel.tpl
@@ -1,7 +1,7 @@
 cc_library(
     name = @name@,
     srcs = @srcs@,
-    hdrs = glob(["{}/**/*.h*".format(x) for x in @headers@]),
+    hdrs = glob(["{}/**/*.h*".format(x) for x in @headers@], allow_empty = True),
     includes = @includes@,
     copts = @copts@,
     defines = @defines@,
diff --git a/bazel_ros2_rules/ros2/resources/templates/package_py_library.bazel.tpl b/bazel_ros2_rules/ros2/resources/templates/package_py_library.bazel.tpl
index 76497821..efda1242 100644
--- a/bazel_ros2_rules/ros2/resources/templates/package_py_library.bazel.tpl
+++ b/bazel_ros2_rules/ros2/resources/templates/package_py_library.bazel.tpl
@@ -1,6 +1,6 @@
 py_library(
     name = @name@,
-    srcs = glob(["{}/**/*.py".format(x) for x in @tops@]),
+    srcs = glob(["{}/**/*.py".format(x) for x in @tops@], allow_empty = True),
     data = glob(
        include=[
          "{}/**/*.*".format(x) for x in @tops@
@@ -8,6 +8,7 @@ py_library(
          "{}/*".format(x) for x in @eggs@
        ],
        exclude=["**/*.py", "**/*.so"],
+       allow_empty = True,
     ) + @data@,
     imports = @imports@,
     deps = @deps@,
diff --git a/bazel_ros2_rules/ros2/resources/templates/package_py_library_with_cc_libs.bazel.tpl b/bazel_ros2_rules/ros2/resources/templates/package_py_library_with_cc_libs.bazel.tpl
index 6b51de3c..ec805e26 100644
--- a/bazel_ros2_rules/ros2/resources/templates/package_py_library_with_cc_libs.bazel.tpl
+++ b/bazel_ros2_rules/ros2/resources/templates/package_py_library_with_cc_libs.bazel.tpl
@@ -7,7 +7,7 @@ cc_library(
 
 py_library(
     name = @name@,
-    srcs = glob(["{}/**/*.py".format(x) for x in @tops@]),
+    srcs = glob(["{}/**/*.py".format(x) for x in @tops@], allow_empty = True),
     data = glob(
        include=[
          "{}/**/*.*".format(x) for x in @tops@
@@ -15,6 +15,7 @@ py_library(
          "{}/*".format(x) for x in @eggs@
        ],
        exclude=["**/*.py", "**/*.so"],
+       allow_empty = True,
     ) + @data@,
     imports = @imports@,
     deps = @deps@,
diff --git a/bazel_ros2_rules/ros2/tools/common.bzl b/bazel_ros2_rules/ros2/tools/common.bzl
index 4b337edf..0d25c3bf 100644
--- a/bazel_ros2_rules/ros2/tools/common.bzl
+++ b/bazel_ros2_rules/ros2/tools/common.bzl
@@ -17,6 +17,7 @@ def share_filegroup(name, share_directories):
                 "*/*.bash",
                 "*/*.dsv",
             ],
+            allow_empty = True,
         ) if " " not in path],
         # NOTE(hidmic): workaround lack of support for spaces.
         # See https://github.com/bazelbuild/bazel/issues/4327.
@@ -30,7 +31,7 @@ def interfaces_filegroup(name, share_directory):
             "{}/**/*.msg".format(share_directory),
             "{}/**/*.srv".format(share_directory),
             "{}/**/*.action".format(share_directory),
-        ]),
+        ], allow_empty = True),
     )
 
 def incorporate_rmw_implementation(kwargs, env_changes, rmw_implementation):