diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index e2251a4773..f4a6c895e7 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
-find_package(rosidl_generator_cpp REQUIRED)
+find_package(rosidl_runtime_cpp REQUIRED)
 find_package(rosidl_typesupport_c REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(tracetools REQUIRED)
@@ -120,7 +120,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "builtin_interfaces"
   "rosgraph_msgs"
   "rosidl_typesupport_cpp"
-  "rosidl_generator_cpp"
+  "rosidl_runtime_cpp"
   "tracetools"
 )
 
@@ -147,7 +147,7 @@ ament_export_dependencies(builtin_interfaces)
 ament_export_dependencies(rosgraph_msgs)
 ament_export_dependencies(rosidl_typesupport_cpp)
 ament_export_dependencies(rosidl_typesupport_c)
-ament_export_dependencies(rosidl_generator_cpp)
+ament_export_dependencies(rosidl_runtime_cpp)
 ament_export_dependencies(rcl_yaml_param_parser)
 ament_export_dependencies(tracetools)
 
@@ -169,7 +169,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_client
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_client ${PROJECT_NAME})
@@ -180,7 +180,7 @@ if(BUILD_TESTING)
       "rcl_interfaces"
       "rmw"
       "rcl"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_create_timer ${PROJECT_NAME})
@@ -191,7 +191,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_expand_topic_or_service_name
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME})
@@ -201,7 +201,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_function_traits
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
   endif()
@@ -211,7 +211,7 @@ if(BUILD_TESTING)
       "rcl"
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
@@ -221,7 +221,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_ring_buffer_implementation
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_ring_buffer_implementation ${PROJECT_NAME})
@@ -231,7 +231,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_intra_process_buffer
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_intra_process_buffer ${PROJECT_NAME})
@@ -249,7 +249,7 @@ if(BUILD_TESTING)
       "rcl_interfaces"
       "rcpputils"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
       "test_msgs"
     )
@@ -288,7 +288,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_node_global_args
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_node_global_args ${PROJECT_NAME})
@@ -310,7 +310,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_parameter_events_filter
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_parameter_events_filter ${PROJECT_NAME})
@@ -320,7 +320,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_parameter
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_parameter ${PROJECT_NAME})
@@ -333,7 +333,7 @@ if(BUILD_TESTING)
   if(TARGET test_publisher)
     ament_target_dependencies(test_publisher
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
       "test_msgs"
     )
@@ -344,7 +344,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_publisher_subscription_count_api
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
       "test_msgs"
     )
@@ -374,7 +374,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_rate
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_rate
@@ -395,7 +395,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_service
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_service ${PROJECT_NAME})
@@ -405,7 +405,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_subscription
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
       "test_msgs"
     )
@@ -416,7 +416,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_subscription_publisher_count_api
       "rcl_interfaces"
       "rmw"
-      "rosidl_generator_cpp"
+      "rosidl_runtime_cpp"
       "rosidl_typesupport_cpp"
       "test_msgs"
     )
diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 65c877fa54..751450e1d5 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -12,13 +12,13 @@
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>rcl_interfaces</build_depend>
   <build_depend>rosgraph_msgs</build_depend>
-  <build_depend>rosidl_generator_cpp</build_depend>
+  <build_depend>rosidl_runtime_cpp</build_depend>
   <build_depend>rosidl_typesupport_c</build_depend>
   <build_depend>rosidl_typesupport_cpp</build_depend>
   <build_export_depend>builtin_interfaces</build_export_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rosgraph_msgs</build_export_depend>
-  <build_export_depend>rosidl_generator_cpp</build_export_depend>
+  <build_export_depend>rosidl_runtime_cpp</build_export_depend>
   <build_export_depend>rosidl_typesupport_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_cpp</build_export_depend>
 
diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index 8d6f46c666..25bc985426 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -6,7 +6,7 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(action_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcl_action REQUIRED)
-find_package(rosidl_generator_c REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
@@ -33,7 +33,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "action_msgs"
   "rcl_action"
   "rclcpp"
-  "rosidl_generator_c"
+  "rosidl_runtime_c"
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,
@@ -60,7 +60,7 @@ ament_export_dependencies(ament_cmake)
 ament_export_dependencies(action_msgs)
 ament_export_dependencies(rclcpp)
 ament_export_dependencies(rcl_action)
-ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rosidl_runtime_c)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
diff --git a/rclcpp_action/package.xml b/rclcpp_action/package.xml
index faebb55003..d7cc193506 100644
--- a/rclcpp_action/package.xml
+++ b/rclcpp_action/package.xml
@@ -9,9 +9,9 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
-  <build_export_depend>rosidl_generator_c</build_export_depend>
+  <build_export_depend>rosidl_runtime_c</build_export_depend>
 
-  <build_depend>rosidl_generator_c</build_depend>
+  <build_depend>rosidl_runtime_c</build_depend>
 
   <depend>action_msgs</depend>
   <depend>rclcpp</depend>