diff --git a/moveit_core/utils/CMakeLists.txt b/moveit_core/utils/CMakeLists.txt
index a5d0a884f0..3bd09ef841 100644
--- a/moveit_core/utils/CMakeLists.txt
+++ b/moveit_core/utils/CMakeLists.txt
@@ -8,7 +8,8 @@ target_include_directories(moveit_utils PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/moveit_core>
 )
-ament_target_dependencies(moveit_utils Boost moveit_msgs rclcpp rsl fmt)
+ament_target_dependencies(moveit_utils Boost moveit_msgs rclcpp fmt)
+target_link_libraries(moveit_utils rsl::rsl)
 set_target_properties(moveit_utils PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
@@ -20,7 +21,7 @@ target_include_directories(moveit_test_utils PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/moveit_core>
 )
-target_link_libraries(moveit_test_utils moveit_robot_model moveit_kinematics_base)
+target_link_libraries(moveit_test_utils moveit_robot_model moveit_kinematics_base rsl::rsl)
 ament_target_dependencies(moveit_test_utils
   ament_index_cpp
   Boost
@@ -30,7 +31,6 @@ ament_target_dependencies(moveit_test_utils
   urdfdom
   urdfdom_headers
   rclcpp
-  rsl
   fmt
 )
 set_target_properties(moveit_test_utils PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")