diff --git a/rosbag2_converter_default_plugins/CMakeLists.txt b/rosbag2_converter_default_plugins/CMakeLists.txt
index 1a6c9f64e7..009833705c 100644
--- a/rosbag2_converter_default_plugins/CMakeLists.txt
+++ b/rosbag2_converter_default_plugins/CMakeLists.txt
@@ -27,7 +27,7 @@ find_package(rcpputils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_fastrtps_cpp QUIET)
 find_package(rosbag2_cpp REQUIRED)
-find_package(rosidl_generator_cpp REQUIRED)
+find_package(rosidl_runtime_cpp REQUIRED)
 
 if(rmw_fastrtps_cpp_FOUND)
   add_library(${PROJECT_NAME} SHARED
@@ -39,7 +39,7 @@ if(rmw_fastrtps_cpp_FOUND)
     rcpputils
     rmw
     rosbag2_cpp
-    rosidl_generator_cpp)
+    rosidl_runtime_cpp)
 
   target_include_directories(${PROJECT_NAME}
     PUBLIC
diff --git a/rosbag2_converter_default_plugins/package.xml b/rosbag2_converter_default_plugins/package.xml
index 8056cb3f64..3e61ad07af 100644
--- a/rosbag2_converter_default_plugins/package.xml
+++ b/rosbag2_converter_default_plugins/package.xml
@@ -11,7 +11,7 @@
 
   <depend>ament_index_cpp</depend>
   <depend>pluginlib</depend>
-  <depend>rosidl_generator_cpp</depend>
+  <depend>rosidl_runtime_cpp</depend>
   <depend>rcpputils</depend>
   <depend>rmw</depend>
   <depend>rmw_fastrtps_cpp</depend>
diff --git a/rosbag2_cpp/CMakeLists.txt b/rosbag2_cpp/CMakeLists.txt
index 371bbb161b..e08e92403c 100644
--- a/rosbag2_cpp/CMakeLists.txt
+++ b/rosbag2_cpp/CMakeLists.txt
@@ -33,7 +33,8 @@ find_package(pluginlib REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rosbag2_storage REQUIRED)
-find_package(rosidl_generator_cpp REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
+find_package(rosidl_runtime_cpp REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 
@@ -55,7 +56,8 @@ ament_target_dependencies(${PROJECT_NAME}
   rcpputils
   rcutils
   rosbag2_storage
-  rosidl_generator_cpp
+  rosidl_runtime_c
+  rosidl_runtime_cpp
   rosidl_typesupport_introspection_cpp
   rosidl_typesupport_cpp
 )
@@ -85,7 +87,12 @@ install(
 
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
-ament_export_dependencies(pluginlib rosbag2_storage rosidl_typesupport_introspection_cpp)
+ament_export_dependencies(pluginlib
+  rosbag2_storage
+  rosidl_runtime_c
+  rosidl_runtime_cpp
+  rosidl_typesupport_introspection_cpp
+)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
@@ -159,7 +166,7 @@ if(BUILD_TESTING)
       ament_index_cpp
       rcpputils
       rosbag2_storage
-      rosidl_generator_cpp
+      rosidl_runtime_cpp
       rosidl_typesupport_introspection_cpp
       rosidl_typesupport_cpp
       test_msgs)
diff --git a/rosbag2_cpp/package.xml b/rosbag2_cpp/package.xml
index 0f33459262..82e8b16917 100644
--- a/rosbag2_cpp/package.xml
+++ b/rosbag2_cpp/package.xml
@@ -12,8 +12,10 @@
   <depend>ament_index_cpp</depend>
   <depend>pluginlib</depend>
   <depend>rcutils</depend>
+  <depend>rcpputils</depend>
   <depend>rosbag2_storage</depend>
-  <depend>rosidl_generator_cpp</depend>
+  <depend>rosidl_runtime_c</depend>
+  <depend>rosidl_runtime_cpp</depend>
   <depend>rosidl_typesupport_cpp</depend>
   <depend>rosidl_typesupport_introspection_cpp</depend>
   <depend>shared_queues_vendor</depend>