diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index 79c5af4..2abd266 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -5,9 +5,9 @@ project(rcl)
 find_package(ament_cmake REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rmw REQUIRED)
-find_package(rosidl_generator_cpp REQUIRED)
+find_package(rosidl_generator_c REQUIRED)
 
-ament_export_dependencies(rmw rosidl_generator_cpp)
+ament_export_dependencies(rmw rosidl_generator_c)
 ament_export_include_directories(include)
 
 include_directories(include)
@@ -30,7 +30,7 @@ add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_sources})
 ament_target_dependencies(${PROJECT_NAME}
   "rcl_interfaces"
   "rmw"
-  "rosidl_generator_cpp"
+  "rosidl_generator_c"
 )
 
 if(AMENT_ENABLE_TESTING)
diff --git a/rcl/package.xml b/rcl/package.xml
index 700656b..c0da176 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -17,7 +17,7 @@
   <build_export_depend>rmw</build_export_depend>
 
   <depend>rcl_interfaces</depend>
-  <depend>rosidl_generator_cpp</depend>
+  <depend>rosidl_generator_c</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>