diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8b45187..ec79f28 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,9 +1,9 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 project(rviz_visual_tools)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -40,7 +40,21 @@ find_package(rviz_common REQUIRED)
 find_package(rviz_rendering REQUIRED)
 find_package(rviz_default_plugins REQUIRED)
 
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Test Widgets)
+
+if(Qt${QT_VERSION_MAJOR} STREQUAL "6")
+	find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets Core5Compat)
+	if(${QT_VERSION} VERSION_LESS 5.15.0)
+  		function(qt_wrap_cpp out)
+    			qt5_wrap_cpp(_sources ${ARGN})
+    			set("${out}" ${_sources} PARENT_SCOPE)
+  		endfunction()
+	endif()
+elseif()#Qt5
+	find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
+endif()
+
 
 ## Qt5 boilerplate options from http://doc.qt.io/qt-5/cmake-manual.html
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
@@ -77,14 +91,16 @@ set(HEADER_FILES
     )
 
 add_library(${PROJECT_NAME}_gui SHARED ${SOURCE_FILES} ${HEADER_FILES})
-ament_target_dependencies(${PROJECT_NAME}_gui PUBLIC
-  rclcpp
-  rviz_common
-  rviz_rendering
-  rviz_default_plugins
-  rviz_ogre_vendor
+target_link_libraries(${PROJECT_NAME}_gui PUBLIC
+  rclcpp::rclcpp
+  rviz_common::rviz_common
+  rviz_rendering::rviz_rendering
+  rviz_default_plugins::rviz_default_plugins
+  rviz_ogre_vendor::OgreMain
+  Qt${QT_VERSION_MAJOR}::Widgets
 )
-target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt5::Widgets)
+
+
 
 # prevent pluginlib from using boost
 target_compile_definitions(${PROJECT_NAME}_gui PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
@@ -98,18 +114,18 @@ add_library(${PROJECT_NAME}_remote_control SHARED
 # Needed for M_PI on Windows
 target_compile_definitions(${PROJECT_NAME}_remote_control PRIVATE _USE_MATH_DEFINES)
 
-ament_target_dependencies(${PROJECT_NAME}_remote_control
-  rclcpp
-  rclcpp_components
-  visualization_msgs
-  tf2
-  tf2_eigen
-  tf2_geometry_msgs
-  sensor_msgs
-  shape_msgs
-  std_msgs
-  trajectory_msgs
-  eigen_stl_containers
+target_link_libraries(${PROJECT_NAME}_remote_control
+  rclcpp::rclcpp
+  rclcpp_components::component
+  ${visualization_msgs_TARGETS}
+  tf2::tf2
+  tf2_eigen::tf2_eigen
+  ${tf2_geometry_msgs_TARGETS}
+  ${sensor_msgs_TARGETS}
+  ${shape_msgs_TARGETS}
+  ${std_msgs_TARGETS}
+  ${trajectory_msgs_TARGETS}
+  eigen_stl_containers::eigen_stl_containers
 )
 
 # Visualization Tools Library
@@ -118,22 +134,20 @@ add_library(${PROJECT_NAME} SHARED
   src/tf_visual_tools.cpp
 )
 target_compile_definitions(${PROJECT_NAME} PRIVATE _USE_MATH_DEFINES)
-ament_target_dependencies(${PROJECT_NAME} PUBLIC Eigen3)
 target_link_libraries(${PROJECT_NAME}
   ${PROJECT_NAME}_remote_control
-)
-ament_target_dependencies(${PROJECT_NAME}
-  rclcpp
-  rclcpp_components
-  visualization_msgs
-  tf2
-  tf2_eigen
-  tf2_geometry_msgs
-  sensor_msgs
-  shape_msgs
-  std_msgs
-  trajectory_msgs
-  eigen_stl_containers
+  Eigen3::Eigen
+  rclcpp::rclcpp
+  rclcpp_components::component
+  ${visualization_msgs_TARGETS}
+  tf2::tf2
+  tf2_eigen::tf2_eigen
+  ${tf2_geometry_msgs_TARGETS}
+  ${sensor_msgs_TARGETS}
+  ${shape_msgs_TARGETS}
+  ${std_msgs_TARGETS}
+  ${trajectory_msgs_TARGETS}
+  eigen_stl_containers::eigen_stl_containers
 )
 
 # Library
@@ -143,15 +157,13 @@ add_library(${PROJECT_NAME}_imarker_simple SHARED
 target_compile_definitions(${PROJECT_NAME}_imarker_simple PRIVATE _USE_MATH_DEFINES)
 target_link_libraries(${PROJECT_NAME}_imarker_simple
   ${PROJECT_NAME}
-)
-ament_target_dependencies(${PROJECT_NAME}_imarker_simple
-  rclcpp
-  interactive_markers
-  geometry_msgs
-  visualization_msgs
-  sensor_msgs
-  eigen_stl_containers
-  Eigen3
+  rclcpp::rclcpp
+  interactive_markers::interactive_markers
+  ${geometry_msgs_TARGETS}
+  ${visualization_msgs_TARGETS}
+  ${sensor_msgs_TARGETS}
+  eigen_stl_containers::eigen_stl_containers
+  Eigen3::Eigen
 )
 
 # Demo executable
@@ -161,11 +173,9 @@ add_executable(${PROJECT_NAME}_demo
 target_compile_definitions(${PROJECT_NAME}_demo PRIVATE _USE_MATH_DEFINES)
 target_link_libraries(${PROJECT_NAME}_demo
   ${PROJECT_NAME}
-)
-ament_target_dependencies(${PROJECT_NAME}_demo
-  rclcpp
-  geometry_msgs
-  std_msgs
+  rclcpp::rclcpp
+  ${geometry_msgs_TARGETS}
+  ${std_msgs_TARGETS}
 )
 
 # Demo executable
@@ -174,9 +184,7 @@ add_executable(${PROJECT_NAME}_imarker_simple_demo
 target_compile_definitions(${PROJECT_NAME}_imarker_simple_demo PRIVATE _USE_MATH_DEFINES)
 target_link_libraries(${PROJECT_NAME}_imarker_simple_demo
   ${PROJECT_NAME}_imarker_simple
-)
-ament_target_dependencies(${PROJECT_NAME}_imarker_simple_demo
-  rclcpp
+  rclcpp::rclcpp
 )
 
 #############
@@ -248,11 +256,9 @@ if (BUILD_TESTING)
     tests/rvt_test.cpp
     TIMEOUT 180)
   target_compile_definitions(${PROJECT_NAME}_rvt_test PRIVATE _USE_MATH_DEFINES)
-  ament_target_dependencies(${PROJECT_NAME}_rvt_test
-    rclcpp
-  )
   target_link_libraries(${PROJECT_NAME}_rvt_test
     ${PROJECT_NAME}
+    rclcpp::rclcpp
   )
 endif()
 
diff --git a/src/rviz_visual_tools.cpp b/src/rviz_visual_tools.cpp
index d261cb2..3383032 100644
--- a/src/rviz_visual_tools.cpp
+++ b/src/rviz_visual_tools.cpp
@@ -42,15 +42,18 @@
 #include <rviz_visual_tools/rviz_visual_tools.hpp>
 
 // Conversions
-#include <tf2/convert.h>
-#include <tf2/LinearMath/Vector3.h>
-#include <tf2/LinearMath/Quaternion.h>
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <tf2/convert.hpp>
+#include <tf2/LinearMath/Vector3.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
 #else
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2/convert.h>
+#include <tf2/LinearMath/Vector3.h>
+#include <tf2/LinearMath/Quaternion.h>
 #endif
 
 // Use (void) to silent unused warnings.
diff --git a/src/tf_visual_tools.cpp b/src/tf_visual_tools.cpp
index 99d7aca..88eac76 100644
--- a/src/tf_visual_tools.cpp
+++ b/src/tf_visual_tools.cpp
@@ -34,12 +34,13 @@
 #include <rclcpp/create_timer.hpp>
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
+#include <tf2/convert.hpp>
 #else
 #include <tf2_eigen/tf2_eigen.h>
+#include <tf2/convert.h>
 #endif
 
 // TF
-#include <tf2/convert.h>
 
 // C++
 #include <string>