diff --git a/rmw/CMakeLists.txt b/rmw/CMakeLists.txt
index aebb6a2a..4f5a359a 100644
--- a/rmw/CMakeLists.txt
+++ b/rmw/CMakeLists.txt
@@ -51,7 +51,7 @@ configure_rmw_library(${PROJECT_NAME} LANGUAGE "C")
 
 ament_export_dependencies(
   rcutils
-  rosidl_generator_c
+  rosidl_runtime_c
 )
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
diff --git a/rmw/package.xml b/rmw/package.xml
index 2fa96db1..c2e59099 100644
--- a/rmw/package.xml
+++ b/rmw/package.xml
@@ -15,7 +15,7 @@
 
   <build_export_depend>rcutils</build_export_depend>
   <!-- This is required for the definition of the rosidl typesupport types -->
-  <build_export_depend>rosidl_generator_c</build_export_depend>
+  <build_export_depend>rosidl_runtime_c</build_export_depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_lint_auto</test_depend>