diff --git a/diagnostic_remote_logging/CMakeLists.txt b/diagnostic_remote_logging/CMakeLists.txt
index 70a50048..a0bdc00e 100644
--- a/diagnostic_remote_logging/CMakeLists.txt
+++ b/diagnostic_remote_logging/CMakeLists.txt
@@ -50,7 +50,12 @@ if(BUILD_TESTING)
     find_package(ament_cmake_gtest REQUIRED)
     ament_add_gtest(unit_tests test/influx_line_protocol.cpp)
     target_include_directories(unit_tests PRIVATE include)
-    target_link_libraries(unit_tests influx_component)
-    ament_target_dependencies(unit_tests ${dependencies} ament_cmake_gtest)
+    target_link_libraries(unit_tests
+      influx_component
+      ${diagnostic_msgs_TARGETS}
+      rclcpp::rclcpp
+      rclcpp_components::component
+      rclcpp_components::component_manager
+    )
 endif()
 ament_package()
diff --git a/diagnostic_updater/CMakeLists.txt b/diagnostic_updater/CMakeLists.txt
index 8c8861ed..19105f6f 100644
--- a/diagnostic_updater/CMakeLists.txt
+++ b/diagnostic_updater/CMakeLists.txt
@@ -68,9 +68,8 @@ if(BUILD_TESTING)
     $<INSTALL_INTERFACE:include>
   )
   target_link_libraries(diagnostic_updater_test ${PROJECT_NAME})
-  ament_target_dependencies(
-    diagnostic_updater_test
-    "rclcpp_lifecycle"
+  target_link_libraries(diagnostic_updater_test
+    rclcpp_lifecycle::rclcpp_lifecycle
   )
 
   ament_add_gtest(diagnostic_status_wrapper_test test/diagnostic_status_wrapper_test.cpp)
@@ -79,12 +78,11 @@ if(BUILD_TESTING)
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
   )
-  ament_target_dependencies(
-    diagnostic_status_wrapper_test
-    "diagnostic_msgs"
-    "rclcpp"
-    "rclcpp_lifecycle"
-    "std_msgs"
+  target_link_libraries(diagnostic_status_wrapper_test
+    ${diagnostic_msgs_TARGETS}
+    ${std_msgs_TARGETS}
+    rclcpp::rclcpp
+    rclcpp_lifecycle::rclcpp_lifecycle
   )
   # SKIPPING FLAKY TEST
   # ament_add_gtest(status_msg_test test/status_msg_test.cpp)
diff --git a/self_test/test/CMakeLists.txt b/self_test/test/CMakeLists.txt
index baf11fa4..a81746b6 100644
--- a/self_test/test/CMakeLists.txt
+++ b/self_test/test/CMakeLists.txt
@@ -3,11 +3,10 @@ find_package(ament_cmake_gtest REQUIRED)
 macro(add_self_test target_name file_path)
   ament_add_gtest(${target_name} ${file_path})
   if(TARGET ${target_name})
-    ament_target_dependencies(
-      ${target_name}
-      "diagnostic_msgs"
-      "diagnostic_updater"
-      "rclcpp"
+    target_link_libraries(${target_name}
+      ${diagnostic_msgs_TARGETS}
+      diagnostic_updater::diagnostic_updater
+      rclcpp::rclcpp
     )
     target_include_directories(${target_name}
       PUBLIC