diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7732a68..3bc733c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,9 +1,9 @@
 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)
+else()#Qt5
+	find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
+	if(${QT_VERSION} VERSION_LESS 5.15.0)
+  	    function(qt_wrap_cpp out)
+    			qt5_wrap_cpp(_sources ${ARGN})
+    			set("${out}" ${_sources} PARENT_SCOPE)
+  		endfunction()
+	endif()
+endif()
+
 
 ## Qt5 boilerplate options from http://doc.qt.io/qt-5/cmake-manual.html
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
@@ -83,8 +97,12 @@ target_link_libraries(${PROJECT_NAME}_gui PUBLIC
   rviz_rendering::rviz_rendering
   rviz_default_plugins::rviz_default_plugins
   rviz_ogre_vendor::OgreMain
-  Qt5::Widgets
 )
+if(Qt${QT_VERSION_MAJOR} STREQUAL "6")
+  target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt${QT_VERSION_MAJOR}::Widgets Qt${QT_VERSION_MAJOR}::Core5Compat ${PROJECT_NAME}_remote_control)
+elseif()
+  target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt${QT_VERSION_MAJOR}::Widgets ${PROJECT_NAME}_remote_control)
+endif()
 
 # prevent pluginlib from using boost
 target_compile_definitions(${PROJECT_NAME}_gui PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
@@ -118,20 +136,32 @@ add_library(${PROJECT_NAME} SHARED
   src/tf_visual_tools.cpp
 )
 target_compile_definitions(${PROJECT_NAME} PRIVATE _USE_MATH_DEFINES)
-target_link_libraries(${PROJECT_NAME}
+
+set(${PROJECT_NAME}_LINK_LIBRARIES
   ${PROJECT_NAME}_remote_control
-  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}
+  ${visualization_msgs_TARGETS}
   eigen_stl_containers::eigen_stl_containers
+  rclcpp::rclcpp
+  rclcpp_components::component
+  rclcpp_components::component_manager
+  sensor_msgs::sensor_msgs_library
+  tf2::tf2
+  tf2_eigen::tf2_eigen
+  tf2_geometry_msgs::tf2_geometry_msgs
+)
+
+if(QT_VERSION_MAJOR STREQUAL "6")
+  list(APPEND ${PROJECT_NAME}_LINK_LIBRARIES
+    Qt6::Core5Compat
+  )
+endif()
+
+target_link_libraries(${PROJECT_NAME}
+    ${${PROJECT_NAME}_LINK_LIBRARIES}
 )
 
 # Library
@@ -157,6 +187,7 @@ add_executable(${PROJECT_NAME}_demo
 target_compile_definitions(${PROJECT_NAME}_demo PRIVATE _USE_MATH_DEFINES)
 target_link_libraries(${PROJECT_NAME}_demo
   ${PROJECT_NAME}
+  ${PROJECT_NAME}_remote_control
   rclcpp::rclcpp
   ${geometry_msgs_TARGETS}
   ${std_msgs_TARGETS}
@@ -167,6 +198,7 @@ add_executable(${PROJECT_NAME}_imarker_simple_demo
   src/imarker_simple_demo.cpp)
 target_compile_definitions(${PROJECT_NAME}_imarker_simple_demo PRIVATE _USE_MATH_DEFINES)
 target_link_libraries(${PROJECT_NAME}_imarker_simple_demo
+  ${PROJECT_NAME}_remote_control
   ${PROJECT_NAME}_imarker_simple
   rclcpp::rclcpp
 )
@@ -242,6 +274,7 @@ if (BUILD_TESTING)
   target_compile_definitions(${PROJECT_NAME}_rvt_test PRIVATE _USE_MATH_DEFINES)
   target_link_libraries(${PROJECT_NAME}_rvt_test
     ${PROJECT_NAME}
+    ${PROJECT_NAME}_remote_control
     rclcpp::rclcpp
   )
 endif()
diff --git a/include/rviz_visual_tools/tf_visual_tools.hpp b/include/rviz_visual_tools/tf_visual_tools.hpp
index a0da8aa..d40aa86 100644
--- a/include/rviz_visual_tools/tf_visual_tools.hpp
+++ b/include/rviz_visual_tools/tf_visual_tools.hpp
@@ -45,7 +45,7 @@
 // Eigen
 #include <Eigen/Geometry>
 
-#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/transform_broadcaster.hpp>
 
 namespace rviz_visual_tools
 {
diff --git a/package.xml b/package.xml
index baa6449..44fc4d0 100644
--- a/package.xml
+++ b/package.xml
@@ -39,11 +39,11 @@
   <depend>std_msgs</depend>
   <depend>trajectory_msgs</depend>
 
-  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>qt6-base-dev</build_depend>
   <build_depend>eigen</build_depend>
 
   <build_export_depend>eigen</build_export_depend>
-  <exec_depend>libqt5-widgets</exec_depend>
+  <exec_depend>libqt6widgets6t64</exec_depend>
 
   <!-- Launch files -->
   <exec_depend>ament_index_python</exec_depend>