diff --git a/qt_gui_cpp/CMakeLists.txt b/qt_gui_cpp/CMakeLists.txt
index bfaf404a..550d3e39 100644
--- a/qt_gui_cpp/CMakeLists.txt
+++ b/qt_gui_cpp/CMakeLists.txt
@@ -19,6 +19,7 @@ if(WIN32)
 endif()
 
 find_package(pluginlib REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
 
@@ -35,7 +36,7 @@ install(
   DESTINATION include
 )
 
-ament_export_dependencies(pluginlib)
+ament_export_dependencies(pluginlib rcpputils)
 ament_export_include_directories(include)
 
 ament_export_include_directories(include)
diff --git a/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h b/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h
index e59c2793..ca0a8fe7 100644
--- a/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h
+++ b/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h
@@ -44,7 +44,7 @@
 #include "plugin_provider.h"
 
 #include <pluginlib/class_loader.hpp>
-#include <pluginlib/impl/filesystem_helper.hpp>
+#include <rcpputils/filesystem_helper.hpp>
 #include <tinyxml2.h>
 
 #include <QCoreApplication>
@@ -145,7 +145,7 @@ class RosPluginlibPluginProvider
 
       std::string name = class_loader_->getName(lookup_name);
       std::string plugin_xml = class_loader_->getPluginManifestPath(lookup_name);
-      pluginlib::impl::fs::path p(plugin_xml);
+      rcpputils::fs::path p(plugin_xml);
       std::string plugin_path = p.parent_path().string();
 
       QMap<QString, QString> attributes;
diff --git a/qt_gui_cpp/package.xml b/qt_gui_cpp/package.xml
index f35e71fc..8d442748 100644
--- a/qt_gui_cpp/package.xml
+++ b/qt_gui_cpp/package.xml
@@ -20,14 +20,16 @@
   <build_depend version_gte="0.3.0">python_qt_binding</build_depend>
   <build_depend>qt5-qmake</build_depend>
   <build_depend>qtbase5-dev</build_depend>
+  <build_depend>rcpputils</build_depend>
   <build_depend>tinyxml2_vendor</build_depend>
 
   <exec_depend version_gte="1.9.23">pluginlib</exec_depend>
   <exec_depend version_gte="0.3.0">qt_gui</exec_depend>
+  <exec_depend>rcpputils</exec_depend>
   <exec_depend>tinyxml2_vendor</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  
+
   <export>
     <build_type>ament_cmake</build_type>
     <qt_gui plugin="${prefix}/plugin.xml"/>
diff --git a/qt_gui_cpp/src/qt_gui_cpp/CMakeLists.txt b/qt_gui_cpp/src/qt_gui_cpp/CMakeLists.txt
index c9e4bc7d..4818abc1 100644
--- a/qt_gui_cpp/src/qt_gui_cpp/CMakeLists.txt
+++ b/qt_gui_cpp/src/qt_gui_cpp/CMakeLists.txt
@@ -34,13 +34,13 @@ set(qt_gui_cpp_LINK_LIBRARIES
 
 qt5_wrap_cpp(qt_gui_cpp_MOCS ${qt_gui_cpp_HDRS})
 
-ament_export_dependencies(pluginlib TinyXML2)
+ament_export_dependencies(pluginlib rcpputils TinyXML2)
 add_library(${PROJECT_NAME} ${qt_gui_cpp_SRCS} ${qt_gui_cpp_MOCS})
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME} PRIVATE ${qt_gui_cpp_INCLUDE_DIRECTORIES})
-ament_target_dependencies(${PROJECT_NAME} pluginlib TinyXML2)
+ament_target_dependencies(${PROJECT_NAME} pluginlib rcpputils TinyXML2)
 
 if (WIN32)
   # On Windows systems, Visual Studio does not currently set __cplusplus correctly unless this