diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt
index 4977da5..a909c64 100644
--- a/rcl_lifecycle/CMakeLists.txt
+++ b/rcl_lifecycle/CMakeLists.txt
@@ -37,13 +37,14 @@ set_source_files_properties(
 
 ### C-Library depending only on RCL
 add_library(
-  rcl_lifecycle
+  ${PROJECT_NAME}
   ${rcl_lifecycle_sources})
 
 # specific order: dependents before dependencies
 ament_target_dependencies(rcl_lifecycle
   "rcl"
   "lifecycle_msgs"
+  "rosidl_generator_c"
   "rcutils"
 )
 
diff --git a/rcl_lifecycle/package.xml b/rcl_lifecycle/package.xml
index 6f451af..d491033 100644
--- a/rcl_lifecycle/package.xml
+++ b/rcl_lifecycle/package.xml
@@ -8,19 +8,18 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <build_depend>lifecycle_msgs</build_depend>
   <build_depend>rcl</build_depend>
   <build_depend>rcutils</build_depend>
   <build_depend>rmw_implementation</build_depend>
-  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>rosidl_generator_c</build_depend>
 
   <exec_depend>lifecycle_msgs</exec_depend>
   <exec_depend>rcl</exec_depend>
   <exec_depend>rcutils</exec_depend>
   <exec_depend>rmw_implementation</exec_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>rosidl_generator_c</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>