diff --git a/rmw_cyclonedds_cpp/CMakeLists.txt b/rmw_cyclonedds_cpp/CMakeLists.txt
index 480f1ac..4111a73 100644
--- a/rmw_cyclonedds_cpp/CMakeLists.txt
+++ b/rmw_cyclonedds_cpp/CMakeLists.txt
@@ -71,6 +71,17 @@ target_include_directories(rmw_cyclonedds_cpp PUBLIC
 target_link_libraries(rmw_cyclonedds_cpp
   CycloneDDS::ddsc
 )
+if(CMAKE_GENERATOR_PLATFORM)
+  set(TARGET_ARCH "${CMAKE_GENERATOR_PLATFORM}")
+else()
+  set(TARGET_ARCH "${CMAKE_SYSTEM_PROCESSOR}")
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX AND TARGET_ARCH MATCHES "^(riscv|RISCV)64$")
+  # using GCC, libatomic is not automatically linked for RISC-V
+  target_link_libraries(rmw_cyclonedds_cpp -latomic)
+endif()
+
 
 ament_target_dependencies(rmw_cyclonedds_cpp
   "rcutils"