diff --git a/rviz2/package.xml b/rviz2/package.xml
index a3f9dbb3c..511ca22f0 100644
--- a/rviz2/package.xml
+++ b/rviz2/package.xml
@@ -28,7 +28,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>qt6-base-dev</build_depend>
 
   <!-- this ensures some basic plugins are available when installing just rviz2 -->
   <exec_depend>rviz_default_plugins</exec_depend>
diff --git a/rviz_common/package.xml b/rviz_common/package.xml
index 17c877685..b7bfdba37 100644
--- a/rviz_common/package.xml
+++ b/rviz_common/package.xml
@@ -26,16 +26,16 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>libqt5-svg-dev</build_depend>
-  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>qt6-svg-dev</build_depend>
+  <build_depend>qt6-base-dev</build_depend>
 
-  <build_export_depend>qtbase5-dev</build_export_depend>
+  <build_export_depend>qt6-base-dev</build_export_depend>
 
-  <exec_depend>libqt5-core</exec_depend>
-  <exec_depend>libqt5-gui</exec_depend>
-  <exec_depend>libqt5-opengl</exec_depend>
-  <exec_depend>libqt5-svg</exec_depend>
-  <exec_depend>libqt5-widgets</exec_depend>
+  <exec_depend>libqt6-core</exec_depend>
+  <exec_depend>libqt6gui6t64</exec_depend>
+  <exec_depend>libqt6opengl6t64</exec_depend>
+  <exec_depend>libqt6svg6</exec_depend>
+  <exec_depend>libqt6widgets6t64</exec_depend>
 
   <depend>geometry_msgs</depend>
   <depend>pluginlib</depend>
diff --git a/rviz_default_plugins/package.xml b/rviz_default_plugins/package.xml
index 6e382c8ae..b0e670c31 100644
--- a/rviz_default_plugins/package.xml
+++ b/rviz_default_plugins/package.xml
@@ -26,15 +26,15 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
-  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>qt6-base-dev</build_depend>
   <build_depend>rviz_ogre_vendor</build_depend>
 
   <build_export_depend>rviz_ogre_vendor</build_export_depend>
 
-  <exec_depend>libqt5-core</exec_depend>
-  <exec_depend>libqt5-gui</exec_depend>
-  <exec_depend>libqt5-opengl</exec_depend>
-  <exec_depend>libqt5-widgets</exec_depend>
+  <exec_depend>libqt6-core</exec_depend>
+  <exec_depend>libqt6gui6t64</exec_depend>
+  <exec_depend>libqt6opengl6t64</exec_depend>
+  <exec_depend>libqt6widgets6t64</exec_depend>
   <exec_depend>rviz_ogre_vendor</exec_depend>
 
   <depend>geometry_msgs</depend>
diff --git a/rviz_rendering/package.xml b/rviz_rendering/package.xml
index 490a0af4c..6469d04c5 100644
--- a/rviz_rendering/package.xml
+++ b/rviz_rendering/package.xml
@@ -31,20 +31,20 @@
 
   <build_depend>ament_index_cpp</build_depend>
   <build_depend>eigen</build_depend>
-  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>qt6-base-dev</build_depend>
   <build_depend>resource_retriever</build_depend>
   <build_depend>assimp-dev</build_depend>
   <build_depend>rviz_ogre_vendor</build_depend>
 
   <build_export_depend>eigen</build_export_depend>
-  <build_export_depend>qtbase5-dev</build_export_depend>
+  <build_export_depend>qt6-base-dev</build_export_depend>
   <build_export_depend>rviz_ogre_vendor</build_export_depend>
 
   <exec_depend>ament_index_cpp</exec_depend>
-  <exec_depend>libqt5-core</exec_depend>
-  <exec_depend>libqt5-gui</exec_depend>
-  <exec_depend>libqt5-opengl</exec_depend>
-  <exec_depend>libqt5-widgets</exec_depend>
+  <exec_depend>libqt6-core</exec_depend>
+  <exec_depend>libqt6gui6t64</exec_depend>
+  <exec_depend>libqt6opengl6t64</exec_depend>
+  <exec_depend>libqt6svg6</exec_depend>
   <exec_depend>resource_retriever</exec_depend>
   <exec_depend>assimp</exec_depend>
   <exec_depend>rviz_ogre_vendor</exec_depend>
diff --git a/rviz_rendering_tests/package.xml b/rviz_rendering_tests/package.xml
index c28247878..74590a57e 100644
--- a/rviz_rendering_tests/package.xml
+++ b/rviz_rendering_tests/package.xml
@@ -22,7 +22,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>qt6-base-dev</build_depend>
 
   <depend>rviz_rendering</depend>
   <depend>resource_retriever</depend>
diff --git a/rviz_visual_testing_framework/package.xml b/rviz_visual_testing_framework/package.xml
index 9c0b4ca04..58d644a67 100644
--- a/rviz_visual_testing_framework/package.xml
+++ b/rviz_visual_testing_framework/package.xml
@@ -24,7 +24,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>qt6-base-dev</build_depend>
 
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>