diff --git a/rviz2/CMakeLists.txt b/rviz2/CMakeLists.txt
index 4bff4496e..815df84df 100644
--- a/rviz2/CMakeLists.txt
+++ b/rviz2/CMakeLists.txt
@@ -18,13 +18,8 @@ find_package(rviz_common REQUIRED)
 
 find_package(rviz_ogre_vendor REQUIRED)
 
-if(MSVC)
-  set(QT_VERSION_MAJOR 5)
-  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
-else()
-  find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
-  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
-endif()
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 # TODO(wjwwood): this block is to setup the windeployqt tool, could be removed later.
 if(Qt${QT_VERSION_MAJOR}_FOUND AND WIN32 AND TARGET Qt${QT_VERSION_MAJOR}::qmake AND NOT TARGET Qt${QT_VERSION_MAJOR}::windeployqt)
   get_target_property(_qt_qmake_location Qt${QT_VERSION_MAJOR}::qmake IMPORTED_LOCATION)
diff --git a/rviz_common/CMakeLists.txt b/rviz_common/CMakeLists.txt
index 6c3ec5e8d..e720e459b 100644
--- a/rviz_common/CMakeLists.txt
+++ b/rviz_common/CMakeLists.txt
@@ -31,16 +31,13 @@ find_package(ament_cmake REQUIRED)
 # do find_package(rviz_ogre_vendor) first to make sure the custom OGRE is found
 find_package(rviz_ogre_vendor REQUIRED)
 
-if(MSVC)
-  set(QT_VERSION_MAJOR 5)
-  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+if(${QT_VERSION} VERSION_LESS 5.15.0)
   function(qt_wrap_cpp out)
     qt5_wrap_cpp(_sources ${ARGN})
     set("${out}" ${_sources} PARENT_SCOPE)
   endfunction()
-else()
-  find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
-  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 endif()
 
 find_package(geometry_msgs REQUIRED)
diff --git a/rviz_common/rviz_common-extras.cmake b/rviz_common/rviz_common-extras.cmake
index 3f4ef59fa..f3c88a8d3 100644
--- a/rviz_common/rviz_common-extras.cmake
+++ b/rviz_common/rviz_common-extras.cmake
@@ -27,10 +27,5 @@
 
 # find package Qt5 because otherwise using the rviz_common::rviz_common
 # exported target will complain that the Qt5::Widgets target does not exist
-if(MSVC)
-  set(QT_VERSION_MAJOR 5)
-  find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)
-else()
-  find_package(QT NAMES Qt6 Qt5 QUIET COMPONENTS Widgets)
-  find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)
-endif()
+find_package(QT NAMES Qt6 Qt5 QUIET COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)
diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
index 2ed54257c..1672cdac2 100644
--- a/rviz_default_plugins/CMakeLists.txt
+++ b/rviz_default_plugins/CMakeLists.txt
@@ -57,16 +57,13 @@ find_package(rviz_common REQUIRED)
 find_package(rviz_rendering REQUIRED)
 find_package(rviz_ogre_vendor REQUIRED)
 
-if(MSVC)
-  set(QT_VERSION_MAJOR 5)
-  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Test Widgets)
+find_package(Qt${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}" ${_sources} PARENT_SCOPE)
   endfunction()
-else()
-  find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Test Widgets)
-  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
 endif()
 
 find_package(geometry_msgs REQUIRED)
diff --git a/rviz_default_plugins/rviz_default_plugins-extras.cmake b/rviz_default_plugins/rviz_default_plugins-extras.cmake
index 0bf7ded76..a24df7629 100644
--- a/rviz_default_plugins/rviz_default_plugins-extras.cmake
+++ b/rviz_default_plugins/rviz_default_plugins-extras.cmake
@@ -27,10 +27,5 @@
 
 # find package Qt5 because otherwise using the rviz_default_plugins::rviz_default_plugins
 # exported target will complain that the Qt5::Widgets target does not exist
-if(MSVC)
-  set(QT_VERSION_MAJOR 5)
-  find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)
-else()
-  find_package(QT NAMES Qt6 Qt5 QUIET COMPONENTS Widgets)
-  find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)
-endif()
+find_package(QT NAMES Qt6 Qt5 QUIET COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)
diff --git a/rviz_rendering/CMakeLists.txt b/rviz_rendering/CMakeLists.txt
index 2ebdb5ef4..77880dc2b 100644
--- a/rviz_rendering/CMakeLists.txt
+++ b/rviz_rendering/CMakeLists.txt
@@ -33,16 +33,13 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(rviz_ogre_vendor REQUIRED)
 find_package(rviz_assimp_vendor REQUIRED)
 
-if(MSVC)
-  set(QT_VERSION_MAJOR 5)
-  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+if(${QT_VERSION} VERSION_LESS 5.15.0)
   function(qt_wrap_cpp out)
     qt5_wrap_cpp(_sources ${ARGN})
     set("${out}" ${_sources} PARENT_SCOPE)
   endfunction()
-else()
-  find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
-  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 endif()
 
 find_package(ament_index_cpp REQUIRED)
diff --git a/rviz_rendering/rviz_rendering-extras.cmake b/rviz_rendering/rviz_rendering-extras.cmake
index f30c469d9..05e19f9a2 100644
--- a/rviz_rendering/rviz_rendering-extras.cmake
+++ b/rviz_rendering/rviz_rendering-extras.cmake
@@ -27,10 +27,5 @@
 
 # find package Qt5 because otherwise using the rviz_rendering::rviz_rendering
 # exported target will complain that the Qt5::Widgets target does not exist
-if(MSVC)
-  set(QT_VERSION_MAJOR 5)
-  find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)
-else()
-  find_package(QT NAMES Qt6 Qt5 QUIET COMPONENTS Widgets)
-  find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)
-endif()
+find_package(QT NAMES Qt6 Qt5 QUIET COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)
diff --git a/rviz_rendering_tests/CMakeLists.txt b/rviz_rendering_tests/CMakeLists.txt
index bf4f114cd..a19977642 100644
--- a/rviz_rendering_tests/CMakeLists.txt
+++ b/rviz_rendering_tests/CMakeLists.txt
@@ -32,16 +32,13 @@ find_package(ament_cmake REQUIRED)
 if(BUILD_TESTING)
   # do find_package(rviz_ogre_vendor) first to make sure the custom OGRE is found
   find_package(rviz_ogre_vendor REQUIRED)
-  if(MSVC)
-    set(QT_VERSION_MAJOR 5)
-    find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+  find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+  if(${QT_VERSION} VERSION_LESS 5.15.0)
     function(qt_wrap_cpp out)
       qt5_wrap_cpp(_sources ${ARGN})
       set("${out}" ${_sources} PARENT_SCOPE)
     endfunction()
-  else()
-    find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
-    find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
   endif()
   find_package(rviz_rendering REQUIRED)
   find_package(resource_retriever REQUIRED)
diff --git a/rviz_visual_testing_framework/CMakeLists.txt b/rviz_visual_testing_framework/CMakeLists.txt
index e30361981..2ffa5c9b4 100644
--- a/rviz_visual_testing_framework/CMakeLists.txt
+++ b/rviz_visual_testing_framework/CMakeLists.txt
@@ -25,13 +25,8 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(geometry_msgs REQUIRED)
-if(MSVC)
-  set(QT_VERSION_MAJOR 5)
-  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
-else()
-  find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Test Widgets)
-  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
-endif()
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Test Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
 find_package(rclcpp REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rviz_common REQUIRED)