diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5ae9bbe..0d0d431 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,11 +26,10 @@ endif()
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-
-ament_target_dependencies(${PROJECT_NAME}
-  "rclcpp"
-  "rcutils"
-  "std_msgs"
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  rclcpp::rclcpp
+  rcutils::rcutils
+  ${std_msgs_TARGETS}
 )
 
 install(
@@ -88,8 +87,7 @@ if(BUILD_TESTING)
 
   ament_add_gtest(${PROJECT_NAME}-test_subscriber test/test_subscriber.cpp)
   if(TARGET ${PROJECT_NAME}-test_subscriber)
-    target_link_libraries(${PROJECT_NAME}-test_subscriber ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-test_subscriber "rclcpp" "rclcpp_lifecycle" "sensor_msgs")
+    target_link_libraries(${PROJECT_NAME}-test_subscriber ${PROJECT_NAME} rclcpp::rclcpp rclcpp_lifecycle::rclcpp_lifecycle ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-test_synchronizer test/test_synchronizer.cpp)
@@ -124,14 +122,12 @@ if(BUILD_TESTING)
 
   ament_add_gtest(${PROJECT_NAME}-test_fuzz test/test_fuzz.cpp SKIP_TEST)
   if(TARGET ${PROJECT_NAME}-test_fuzz)
-    target_link_libraries(${PROJECT_NAME}-test_fuzz ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-test_fuzz "rclcpp" "sensor_msgs")
+    target_link_libraries(${PROJECT_NAME}-test_fuzz ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-test_message_traits test/test_message_traits.cpp)
   if(TARGET ${PROJECT_NAME}-test_message_traits)
-    target_link_libraries(${PROJECT_NAME}-test_message_traits ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-test_message_traits "rclcpp" "std_msgs")
+    target_link_libraries(${PROJECT_NAME}-test_message_traits ${PROJECT_NAME} rclcpp::rclcpp ${std_msgs_TARGETS})
   endif()
 
   # Provides PYTHON_EXECUTABLE_DEBUG