diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index c643581cc..cc7105556 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -41,7 +41,7 @@ find_package(fastrtps REQUIRED CONFIG)
 find_package(FastRTPS REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
-find_package(rosidl_generator_c REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 
@@ -102,7 +102,7 @@ ament_target_dependencies(rmw_fastrtps_cpp
   "rmw_dds_common"
   "rmw_fastrtps_shared_cpp"
   "rmw"
-  "rosidl_generator_c"
+  "rosidl_runtime_c"
 )
 
 target_link_libraries(rmw_fastrtps_cpp
@@ -120,12 +120,12 @@ PRIVATE "RMW_FASTRTPS_CPP_BUILDING_LIBRARY")
 ament_export_include_directories(include)
 ament_export_libraries(rmw_fastrtps_cpp)
 
-ament_export_dependencies(rosidl_typesupport_fastrtps_cpp)
-ament_export_dependencies(rosidl_typesupport_fastrtps_c)
-ament_export_dependencies(rosidl_generator_c)
 ament_export_dependencies(rcutils)
-ament_export_dependencies(rmw_fastrtps_shared_cpp)
 ament_export_dependencies(rmw)
+ament_export_dependencies(rmw_fastrtps_shared_cpp)
+ament_export_dependencies(rosidl_runtime_c)
+ament_export_dependencies(rosidl_typesupport_fastrtps_c)
+ament_export_dependencies(rosidl_typesupport_fastrtps_cpp)
 
 register_rmw_implementation(
   "c:rosidl_typesupport_c:rosidl_typesupport_fastrtps_c"
diff --git a/rmw_fastrtps_cpp/package.xml b/rmw_fastrtps_cpp/package.xml
index 1bc9da807..1d2c63c52 100644
--- a/rmw_fastrtps_cpp/package.xml
+++ b/rmw_fastrtps_cpp/package.xml
@@ -22,8 +22,8 @@
   <build_depend>rmw</build_depend>
   <build_depend>rmw_dds_common</build_depend>
   <build_depend>rmw_fastrtps_shared_cpp</build_depend>
-  <build_depend>rosidl_generator_c</build_depend>
-  <build_depend>rosidl_generator_cpp</build_depend>
+  <build_depend>rosidl_runtime_c</build_depend>
+  <build_depend>rosidl_runtime_cpp</build_depend>
   <build_depend>rosidl_typesupport_fastrtps_c</build_depend>
   <build_depend>rosidl_typesupport_fastrtps_cpp</build_depend>
 
@@ -34,8 +34,8 @@
   <build_export_depend>rmw_dds_common</build_export_depend>
   <build_export_depend>rmw_fastrtps_shared_cpp</build_export_depend>
   <build_export_depend>rmw</build_export_depend>
-  <build_export_depend>rosidl_generator_c</build_export_depend>
-  <build_export_depend>rosidl_generator_cpp</build_export_depend>
+  <build_export_depend>rosidl_runtime_c</build_export_depend>
+  <build_export_depend>rosidl_runtime_cpp</build_export_depend>
   <build_export_depend>rosidl_typesupport_fastrtps_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_fastrtps_cpp</build_export_depend>
 
diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
index 1c0ffe6c3..8f7f6bdd5 100644
--- a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -42,7 +42,7 @@ find_package(fastrtps REQUIRED CONFIG)
 find_package(FastRTPS REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
-find_package(rosidl_generator_c REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
@@ -111,7 +111,7 @@ ament_target_dependencies(rmw_fastrtps_dynamic_cpp
   "rmw_dds_common"
   "rmw_fastrtps_shared_cpp"
   "rmw"
-  "rosidl_generator_c"
+  "rosidl_runtime_c"
 )
 
 target_link_libraries(rmw_fastrtps_dynamic_cpp
@@ -133,7 +133,7 @@ ament_export_dependencies(rosidl_typesupport_fastrtps_c)
 ament_export_dependencies(rosidl_typesupport_fastrtps_cpp)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 ament_export_dependencies(rosidl_typesupport_introspection_c)
-ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(rcpputils)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw_fastrtps_shared_cpp)
diff --git a/rmw_fastrtps_dynamic_cpp/package.xml b/rmw_fastrtps_dynamic_cpp/package.xml
index cfc49d436..141fa8079 100644
--- a/rmw_fastrtps_dynamic_cpp/package.xml
+++ b/rmw_fastrtps_dynamic_cpp/package.xml
@@ -21,7 +21,7 @@
   <build_depend>rmw</build_depend>
   <build_depend>rmw_dds_common</build_depend>
   <build_depend>rmw_fastrtps_shared_cpp</build_depend>
-  <build_depend>rosidl_generator_c</build_depend>
+  <build_depend>rosidl_runtime_c</build_depend>
   <build_depend>rosidl_typesupport_fastrtps_c</build_depend>
   <build_depend>rosidl_typesupport_fastrtps_cpp</build_depend>
   <build_depend>rosidl_typesupport_introspection_c</build_depend>
@@ -35,7 +35,7 @@
   <build_export_depend>rmw</build_export_depend>
   <build_export_depend>rmw_dds_common</build_export_depend>
   <build_export_depend>rmw_fastrtps_shared_cpp</build_export_depend>
-  <build_export_depend>rosidl_generator_c</build_export_depend>
+  <build_export_depend>rosidl_runtime_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_fastrtps_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_fastrtps_cpp</build_export_depend>
   <build_export_depend>rosidl_typesupport_introspection_c</build_export_depend>