diff --git a/pluginlib/CMakeLists.txt b/pluginlib/CMakeLists.txt
index ae35d6e..c9bd62e 100644
--- a/pluginlib/CMakeLists.txt
+++ b/pluginlib/CMakeLists.txt
@@ -16,8 +16,7 @@ find_package(ament_index_cpp REQUIRED)
 find_package(class_loader REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rcpputils REQUIRED)
-find_package(tinyxml2_vendor REQUIRED)
-find_package(TinyXML2 REQUIRED)  # provided by tinyxml2 upstream, or tinyxml2_vendor
+find_package(TinyXML2 REQUIRED)
 
 add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(${PROJECT_NAME} INTERFACE
@@ -42,7 +41,7 @@ install(TARGETS list_plugins
         DESTINATION lib/${PROJECT_NAME}
 )
 
-ament_export_dependencies(ament_index_cpp class_loader rcutils rcpputils tinyxml2_vendor TinyXML2)
+ament_export_dependencies(ament_index_cpp class_loader rcutils rcpputils TinyXML2)
 
 ament_export_targets(export_${PROJECT_NAME})
 
diff --git a/pluginlib/package.xml b/pluginlib/package.xml
index 7ad4244..eac1798 100644
--- a/pluginlib/package.xml
+++ b/pluginlib/package.xml
@@ -27,7 +27,7 @@
   <depend>class_loader</depend>
   <depend>rcutils</depend>
   <depend>rcpputils</depend>
-  <depend>tinyxml2_vendor</depend>
+  <depend>tinyxml2</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>