diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index c2747c5..7245207 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -9,7 +9,7 @@ find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
-find_package(rosidl_generator_c REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 find_package(tracetools REQUIRED)
 
 include_directories(include)
@@ -68,11 +68,11 @@ add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources})
 ament_target_dependencies(${PROJECT_NAME}
   "rcl_interfaces"
   "rcl_yaml_param_parser"
-  "rmw_implementation"
-  "rmw"
   "rcutils"
-  "rosidl_generator_c"
+  "rmw"
+  "rmw_implementation"
   ${RCL_LOGGING_IMPL}
+  "rosidl_runtime_c"
   "tracetools"
 )
 
@@ -103,8 +103,8 @@ ament_export_dependencies(rcl_yaml_param_parser)
 ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rcutils)
-ament_export_dependencies(rosidl_generator_c)
 ament_export_dependencies(${RCL_LOGGING_IMPL})
+ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(tracetools)
 
 if(BUILD_TESTING)
diff --git a/rcl/package.xml b/rcl/package.xml
index a410da2..fc38231 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -18,7 +18,7 @@
   <depend>rcl_yaml_param_parser</depend>
   <depend>rcutils</depend>
   <depend>rmw_implementation</depend>
-  <depend>rosidl_generator_c</depend>
+  <depend>rosidl_runtime_c</depend>
   <depend>tracetools</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt
index f033b23..8a04267 100644
--- a/rcl_action/CMakeLists.txt
+++ b/rcl_action/CMakeLists.txt
@@ -4,11 +4,11 @@ project(rcl_action)
 
 find_package(ament_cmake_ros REQUIRED)
 
-find_package(rosidl_generator_c REQUIRED)
 find_package(action_msgs REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 
 include_directories(
   include
@@ -54,7 +54,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "rcl"
   "rcutils"
   "rmw"
-  "rosidl_generator_c"
+  "rosidl_runtime_c"
 )
 
 rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
@@ -205,10 +205,10 @@ endif()
 # specific order: dependents before dependencies
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(action_msgs)
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
-ament_export_dependencies(action_msgs)
-ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rosidl_runtime_c)
 ament_package()
diff --git a/rcl_action/package.xml b/rcl_action/package.xml
index acb39fb..b0a9a75 100644
--- a/rcl_action/package.xml
+++ b/rcl_action/package.xml
@@ -13,7 +13,7 @@
   <depend>rcl</depend>
   <depend>rcutils</depend>
   <depend>rmw</depend>
-  <depend>rosidl_generator_c</depend>
+  <depend>rosidl_runtime_c</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt
index d92f9b5..6df980f 100644
--- a/rcl_lifecycle/CMakeLists.txt
+++ b/rcl_lifecycle/CMakeLists.txt
@@ -8,7 +8,7 @@ find_package(lifecycle_msgs REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
-find_package(rosidl_generator_c)
+find_package(rosidl_runtime_c REQUIRED)
 
 include_directories(include)
 
@@ -43,10 +43,10 @@ add_library(
 
 # specific order: dependents before dependencies
 ament_target_dependencies(rcl_lifecycle
-  "rcl"
   "lifecycle_msgs"
-  "rosidl_generator_c"
+  "rcl"
   "rcutils"
+  "rosidl_runtime_c"
 )
 
 rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
@@ -102,9 +102,10 @@ endif()
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 ament_export_dependencies(ament_cmake)
-ament_export_dependencies(rcl)
 ament_export_dependencies(lifecycle_msgs)
+ament_export_dependencies(rcl)
 ament_export_dependencies(rcutils)
+ament_export_dependencies(rosidl_runtime_c)
 ament_package()
 
 install(
diff --git a/rcl_lifecycle/package.xml b/rcl_lifecycle/package.xml
index d8f99d0..d536393 100644
--- a/rcl_lifecycle/package.xml
+++ b/rcl_lifecycle/package.xml
@@ -13,13 +13,13 @@
   <build_depend>rcl</build_depend>
   <build_depend>rcutils</build_depend>
   <build_depend>rmw</build_depend>
-  <build_depend>rosidl_generator_c</build_depend>
+  <build_depend>rosidl_runtime_c</build_depend>
 
   <exec_depend>lifecycle_msgs</exec_depend>
   <exec_depend>rcl</exec_depend>
   <exec_depend>rcutils</exec_depend>
   <exec_depend>rmw</exec_depend>
-  <exec_depend>rosidl_generator_c</exec_depend>
+  <exec_depend>rosidl_runtime_c</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>