diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt
index bcb4dc1..d92f9b5 100644
--- a/rcl_lifecycle/CMakeLists.txt
+++ b/rcl_lifecycle/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(lifecycle_msgs REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
+find_package(rosidl_generator_c)
 
 include_directories(include)
 
diff --git a/rcl_lifecycle/package.xml b/rcl_lifecycle/package.xml
index 9e340d8..d8f99d0 100644
--- a/rcl_lifecycle/package.xml
+++ b/rcl_lifecycle/package.xml
@@ -12,13 +12,13 @@
   <build_depend>lifecycle_msgs</build_depend>
   <build_depend>rcl</build_depend>
   <build_depend>rcutils</build_depend>
-  <build_depend>rmw_implementation</build_depend>
+  <build_depend>rmw</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>rmw</exec_depend>
   <exec_depend>rosidl_generator_c</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>