diff --git a/rviz_imu_plugin/CMakeLists.txt b/rviz_imu_plugin/CMakeLists.txt
index 6498090..d4a2853 100644
--- a/rviz_imu_plugin/CMakeLists.txt
+++ b/rviz_imu_plugin/CMakeLists.txt
@@ -12,8 +12,10 @@ endif()
 
 find_package(ament_cmake REQUIRED COMPONENTS rviz)
 find_package(message_filters REQUIRED)
-find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets Test)
-find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets Test)
+find_package(Qt6 QUIET COMPONENTS Test Widgets)
+if(NOT Qt6_FOUND)
+  find_package(Qt5 REQUIRED COMPONENTS Test Widgets)
+endif()
 find_package(rviz_common REQUIRED)
 find_package(rviz_ogre_vendor REQUIRED)
 find_package(rviz_rendering REQUIRED)
diff --git a/rviz_imu_plugin/package.xml b/rviz_imu_plugin/package.xml
index 5ec621e..212ab65 100644
--- a/rviz_imu_plugin/package.xml
+++ b/rviz_imu_plugin/package.xml
@@ -13,7 +13,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>qt6-base-dev</build_depend>
+  <build_depend>qt-base-dev</build_depend>
 
   <depend>message_filters</depend>
   <depend>pluginlib</depend>
@@ -25,10 +25,10 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
 
-  <exec_depend>libqt6-core</exec_depend>
-  <exec_depend>libqt6gui6t64</exec_depend>
-  <exec_depend>libqt6opengl6t64</exec_depend>
-  <exec_depend>libqt6widgets6t64</exec_depend>
+  <exec_depend>libqtcore</exec_depend>
+  <exec_depend>libqtgui</exec_depend>
+  <exec_depend>libqtopengl</exec_depend>
+  <exec_depend>libqtwidgets</exec_depend>
 
   <export>
     <rosdoc config="${prefix}/rosdoc.yaml"/>