diff --git a/ros2lifecycle_test_fixtures/CMakeLists.txt b/ros2lifecycle_test_fixtures/CMakeLists.txt
index 1c3687838..787aff04e 100644
--- a/ros2lifecycle_test_fixtures/CMakeLists.txt
+++ b/ros2lifecycle_test_fixtures/CMakeLists.txt
@@ -19,8 +19,8 @@ find_package(rclcpp REQUIRED)
 add_executable(simple_lifecycle_node
   src/simple_lifecycle_node.cpp)
 
-ament_target_dependencies(simple_lifecycle_node
-  "rclcpp_lifecycle")
+target_link_libraries(simple_lifecycle_node PRIVATE
+  rclcpp_lifecycle::rclcpp_lifecycle)
 
 install(TARGETS
   simple_lifecycle_node
diff --git a/ros2pkg/ros2pkg/resource/ament_cmake/CMakeLists.txt.em b/ros2pkg/ros2pkg/resource/ament_cmake/CMakeLists.txt.em
index d49d6bf2f..43ab8136b 100644
--- a/ros2pkg/ros2pkg/resource/ament_cmake/CMakeLists.txt.em
+++ b/ros2pkg/ros2pkg/resource/ament_cmake/CMakeLists.txt.em
@@ -28,10 +28,10 @@ target_include_directories(@(cpp_library_name) PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
 @[  if dependencies]@
-ament_target_dependencies(
-  @(cpp_library_name)
+target_link_libraries(
+  @(cpp_library_name) PUBLIC
 @[    for dep in dependencies]@
-  "@(dep)"
+  ${@(dep)_TARGETS}
 @[    end for]@
 )
 @[  end if]@
@@ -63,10 +63,10 @@ target_link_libraries(@(cpp_node_name) @(cpp_library_name))
 @[  else]@
 target_compile_features(@(cpp_node_name) PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
 @[    if dependencies]@
-ament_target_dependencies(
+target_link_libraries(
   @(cpp_node_name)
 @[      for dep in dependencies]@
-  "@(dep)"
+  ${@(dep)_TARGETS}
 @[      end for]@
 )
 @[    end if]@