diff --git a/rmw_cyclonedds_cpp/CMakeLists.txt b/rmw_cyclonedds_cpp/CMakeLists.txt
index f621a9b..6ffe634 100644
--- a/rmw_cyclonedds_cpp/CMakeLists.txt
+++ b/rmw_cyclonedds_cpp/CMakeLists.txt
@@ -38,13 +38,13 @@ if(NOT CycloneDDS_FOUND)
 endif()
 
 find_package(rmw REQUIRED)
-find_package(rosidl_generator_c REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
-ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 
@@ -71,7 +71,7 @@ ament_target_dependencies(rmw_cyclonedds_cpp
   "rosidl_typesupport_introspection_c"
   "rosidl_typesupport_introspection_cpp"
   "rmw"
-  "rosidl_generator_c"
+  "rosidl_runtime_c"
 )
 
 configure_rmw_library(rmw_cyclonedds_cpp)
diff --git a/rmw_cyclonedds_cpp/package.xml b/rmw_cyclonedds_cpp/package.xml
index 0308fb8..e3cdc7d 100644
--- a/rmw_cyclonedds_cpp/package.xml
+++ b/rmw_cyclonedds_cpp/package.xml
@@ -12,7 +12,7 @@
   <depend>cyclonedds</depend>
   <depend>rcutils</depend>
   <depend>rmw</depend>
-  <depend>rosidl_generator_c</depend>
+  <depend>rosidl_runtime_c</depend>
   <depend>rosidl_typesupport_introspection_c</depend>
   <depend>rosidl_typesupport_introspection_cpp</depend>