diff --git a/rviz2/CMakeLists.txt b/rviz2/CMakeLists.txt
index a0677c212..d8baae967 100644
--- a/rviz2/CMakeLists.txt
+++ b/rviz2/CMakeLists.txt
@@ -18,24 +18,25 @@ find_package(rviz_common REQUIRED)
 
 find_package(rviz_ogre_vendor REQUIRED)
 
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 # TODO(wjwwood): this block is to setup the windeployqt tool, could be removed later.
-if(Qt5_FOUND AND WIN32 AND TARGET Qt5::qmake AND NOT TARGET Qt5::windeployqt)
-  get_target_property(_qt5_qmake_location Qt5::qmake IMPORTED_LOCATION)
+if(Qt${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)
 
   execute_process(
-    COMMAND "${_qt5_qmake_location}" -query QT_INSTALL_PREFIX
+    COMMAND "${_qt_qmake_location}" -query QT_INSTALL_PREFIX
     RESULT_VARIABLE return_code
-    OUTPUT_VARIABLE qt5_install_prefix
+    OUTPUT_VARIABLE qt_install_prefix
     OUTPUT_STRIP_TRAILING_WHITESPACE
   )
 
-  set(imported_location "${qt5_install_prefix}/bin/windeployqt.exe")
+  set(imported_location "${qt_install_prefix}/bin/windeployqt.exe")
 
   if(EXISTS ${imported_location})
-    add_executable(Qt5::windeployqt IMPORTED)
+    add_executable(Qt${QT_VERSION_MAJOR}::windeployqt IMPORTED)
 
-    set_target_properties(Qt5::windeployqt PROPERTIES
+    set_target_properties(Qt${QT_VERSION_MAJOR}::windeployqt PROPERTIES
       IMPORTED_LOCATION ${imported_location}
     )
   endif()
@@ -48,21 +49,21 @@ target_link_libraries(${PROJECT_NAME}
   rviz_common::rviz_common
   rviz_ogre_vendor::OgreMain
   rviz_ogre_vendor::OgreOverlay
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Widgets
 )
 
 # TODO(wjwwood): find a way to make this optional or to run without "deploying" the
 #                necessary dlls and stuff to the bin folder.
 #                see:
 # https://stackoverflow.com/questions/41193584/deploy-all-qt-dependencies-when-building#41199492
-if(TARGET Qt5::windeployqt)
+if(TARGET Qt${QT_VERSION_MAJOR}::windeployqt)
   # execute windeployqt in a tmp directory after build
   add_custom_command(TARGET ${PROJECT_NAME}
     POST_BUILD
     COMMAND ${CMAKE_COMMAND} -E remove_directory "${CMAKE_CURRENT_BINARY_DIR}/windeployqt"
-    COMMAND set PATH=%PATH%$<SEMICOLON>${qt5_install_prefix}/bin
+    COMMAND set PATH=%PATH%$<SEMICOLON>${qt_install_prefix}/bin
     COMMAND
-    Qt5::windeployqt
+    Qt${QT_VERSION_MAJOR}::windeployqt
     --dir "${CMAKE_CURRENT_BINARY_DIR}/windeployqt"
     "$<TARGET_FILE_DIR:${PROJECT_NAME}>/$<TARGET_FILE_NAME:${PROJECT_NAME}>"
   )
diff --git a/rviz_common/CMakeLists.txt b/rviz_common/CMakeLists.txt
index 3ec7063fb..75624dc85 100644
--- a/rviz_common/CMakeLists.txt
+++ b/rviz_common/CMakeLists.txt
@@ -31,7 +31,8 @@ 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)
 
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 
 find_package(geometry_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -131,7 +132,7 @@ set(rviz_common_headers_to_moc
 )
 
 foreach(header "${rviz_common_headers_to_moc}")
-  qt5_wrap_cpp(rviz_common_moc_files "${header}")
+  qt_wrap_cpp(rviz_common_moc_files "${header}")
 endforeach()
 
 set(rviz_common_source_files
@@ -239,7 +240,7 @@ target_link_libraries(rviz_common PUBLIC
   ${geometry_msgs_TARGETS}
   message_filters::message_filters
   pluginlib::pluginlib
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Widgets
   rclcpp::rclcpp
   rviz_ogre_vendor::OgreMain
   rviz_ogre_vendor::OgreOverlay
@@ -265,7 +266,7 @@ ament_export_dependencies(
   geometry_msgs
   message_filters
   pluginlib
-  Qt5
+  Qt${QT_VERSION_MAJOR}
   rclcpp
   rviz_ogre_vendor
   rviz_rendering
@@ -324,10 +325,10 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
 
-  qt5_wrap_cpp(rviz_common_test_moc_files test/mock_display.hpp)
-  qt5_wrap_cpp(rviz_common_test_moc_files test/mock_property_change_receiver.hpp)
+  qt_wrap_cpp(rviz_common_test_moc_files test/mock_display.hpp)
+  qt_wrap_cpp(rviz_common_test_moc_files test/mock_property_change_receiver.hpp)
 
-  qt5_wrap_cpp(rviz_common_test_frame_manager_moc src/rviz_common/frame_manager.hpp)
+  qt_wrap_cpp(rviz_common_test_frame_manager_moc src/rviz_common/frame_manager.hpp)
 
   ament_add_gmock(display_factory_test
     test/display_factory_test.cpp
@@ -336,7 +337,7 @@ if(BUILD_TESTING)
   if(TARGET display_factory_test)
     target_compile_definitions(display_factory_test PUBLIC
       -D_TEST_PLUGIN_DESCRIPTIONS="${CMAKE_CURRENT_SOURCE_DIR}")
-    target_link_libraries(display_factory_test rviz_common Qt5::Widgets)
+    target_link_libraries(display_factory_test rviz_common Qt${QT_VERSION_MAJOR}::Widgets)
   endif()
 
   ament_add_gmock(frame_manager_test
@@ -445,7 +446,7 @@ if(BUILD_TESTING)
     test/mock_property_change_receiver.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET rviz_common_display_test)
-    target_link_libraries(rviz_common_display_test rviz_common Qt5::Widgets yaml-cpp::yaml-cpp)
+    target_link_libraries(rviz_common_display_test rviz_common Qt${QT_VERSION_MAJOR}::Widgets yaml-cpp::yaml-cpp)
   endif()
 endif()
 
diff --git a/rviz_common/include/rviz_common/properties/ros_topic_property.hpp b/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
index c55303e6d..e98b2e21c 100644
--- a/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
+++ b/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
@@ -31,6 +31,8 @@
 
 #include <string>
 
+#include <QRegularExpression>  // NOLINT: cpplint is unable to handle the include order here
+
 #include "rviz_common/properties/editable_enum_property.hpp"
 #include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
 #include "rviz_common/visibility_control.hpp"
@@ -89,20 +91,20 @@ class RVIZ_COMMON_PUBLIC RosFilteredTopicProperty
     const QString & default_value = QString(),
     const QString & message_type = QString(),
     const QString & description = QString(),
-    const QRegExp & filter = QRegExp(),
+    const QRegularExpression & filter = QRegularExpression(),
     Property * parent = 0,
     const char * changed_slot = 0,
     QObject * receiver = 0);
 
   void enableFilter(bool enabled);
 
-  QRegExp filter() const;
+  QRegularExpression filter() const;
 
 protected Q_SLOTS:
   void fillTopicList() override;
 
 private:
-  QRegExp filter_;
+  QRegularExpression filter_;
   bool filter_enabled_;
 };
 
diff --git a/rviz_common/rviz_common-extras.cmake b/rviz_common/rviz_common-extras.cmake
index 5a719edad..de3aa09a1 100644
--- a/rviz_common/rviz_common-extras.cmake
+++ b/rviz_common/rviz_common-extras.cmake
@@ -27,4 +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
-find_package(Qt5 REQUIRED QUIET COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED QUIET COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED QUIET COMPONENTS Widgets)
diff --git a/rviz_common/src/rviz_common/add_display_dialog.cpp b/rviz_common/src/rviz_common/add_display_dialog.cpp
index 28b56373f..601431447 100644
--- a/rviz_common/src/rviz_common/add_display_dialog.cpp
+++ b/rviz_common/src/rviz_common/add_display_dialog.cpp
@@ -46,6 +46,7 @@
 #include <QLabel>  // NOLINT: cpplint is unable to handle the include order here
 #include <QLineEdit>  // NOLINT: cpplint is unable to handle the include order here
 #include <QPushButton>  // NOLINT: cpplint is unable to handle the include order here
+#include <QRegularExpression>  // NOLINT: cpplint is unable to handle the include order here
 #include <QTabWidget>  // NOLINT: cpplint is unable to handle the include order here
 #include <QTextBrowser>  // NOLINT: cpplint is unable to handle the include order here
 #include <QVBoxLayout>  // NOLINT: cpplint is unable to handle the include order here
@@ -590,7 +591,7 @@ void TopicDisplayWidget::findPlugins(DisplayFactory * factory)
       // For now, we assume that all types supported by plugins have the form
       // "<pkg_name>/msg/<type_name>", though in the future zero or more namespaces may be
       // permitted.
-      QRegExp delim("/");
+      QRegularExpression delim("/");
       QStringList topic_type_parts = topic_type.split(delim);
       if (topic_type_parts.size() == 2) {
         topic_type = topic_type_parts.at(0) + "/msg/" + topic_type_parts.at(1);
diff --git a/rviz_common/src/rviz_common/properties/property_tree_model.cpp b/rviz_common/src/rviz_common/properties/property_tree_model.cpp
index 2684a8484..7c0980b48 100644
--- a/rviz_common/src/rviz_common/properties/property_tree_model.cpp
+++ b/rviz_common/src/rviz_common/properties/property_tree_model.cpp
@@ -32,6 +32,7 @@
 
 #include <cstdio>
 
+#include <QIODevice>  // NOLINT: cpplint is unable to handle the include order here
 #include <QMimeData>  // NOLINT: cpplint is unable to handle the include order here
 #include <QStringList>  // NOLINT: cpplint is unable to handle the include order here
 
diff --git a/rviz_common/src/rviz_common/properties/ros_topic_property.cpp b/rviz_common/src/rviz_common/properties/ros_topic_property.cpp
index 6a1fab396..a3b56cdc3 100644
--- a/rviz_common/src/rviz_common/properties/ros_topic_property.cpp
+++ b/rviz_common/src/rviz_common/properties/ros_topic_property.cpp
@@ -94,7 +94,7 @@ RosFilteredTopicProperty::RosFilteredTopicProperty(
   const QString & default_value,
   const QString & message_type,
   const QString & description,
-  const QRegExp & filter,
+  const QRegularExpression & filter,
   Property * parent,
   const char * changed_slot,
   QObject * receiver)
@@ -110,7 +110,7 @@ void RosFilteredTopicProperty::enableFilter(bool enabled)
   fillTopicList();
 }
 
-QRegExp RosFilteredTopicProperty::filter() const
+QRegularExpression RosFilteredTopicProperty::filter() const
 {
   return filter_;
 }
diff --git a/rviz_common/src/rviz_common/tool_manager.cpp b/rviz_common/src/rviz_common/tool_manager.cpp
index 2443ff57b..d3d5edcfb 100644
--- a/rviz_common/src/rviz_common/tool_manager.cpp
+++ b/rviz_common/src/rviz_common/tool_manager.cpp
@@ -35,7 +35,7 @@
 
 #include <QKeyEvent>  // NOLINT: cpplint is unable to handle the include order here
 #include <QKeySequence>  // NOLINT: cpplint is unable to handle the include order here
-#include <QRegExp>  // NOLINT: cpplint is unable to handle the include order here
+#include <QRegularExpression>  // NOLINT: cpplint is unable to handle the include order here
 
 #include "rviz_common/logging.hpp"
 
@@ -52,7 +52,7 @@ using rviz_common::properties::PropertyTreeModel;
 
 QString addSpaceToCamelCase(QString input)
 {
-  QRegExp re = QRegExp("([A-Z])([a-z]*)");
+  QRegularExpression re = QRegularExpression("([A-Z])([a-z]*)");
   input.replace(re, " \\1\\2");
   return input.trimmed();
 }
diff --git a/rviz_common/src/rviz_common/visualization_frame.cpp b/rviz_common/src/rviz_common/visualization_frame.cpp
index c3d55a6b0..e936c9bf1 100644
--- a/rviz_common/src/rviz_common/visualization_frame.cpp
+++ b/rviz_common/src/rviz_common/visualization_frame.cpp
@@ -42,6 +42,7 @@
 #include <OgreMeshManager.h>
 #include <OgreMaterialManager.h>
 
+#include <QActionGroup>  // NOLINT cpplint cannot handle include order here
 #include <QApplication>  // NOLINT cpplint cannot handle include order here
 #include <QCloseEvent>  // NOLINT cpplint cannot handle include order here
 #include <QDesktopServices>  // NOLINT cpplint cannot handle include order here
@@ -262,7 +263,7 @@ void VisualizationFrame::initialize(
   QWidget * central_widget = new QWidget(this);
   QHBoxLayout * central_layout = new QHBoxLayout;
   central_layout->setSpacing(0);
-  central_layout->setMargin(0);
+  central_layout->setContentsMargins(0, 0, 0, 0);
 
   render_panel_ = new RenderPanel(central_widget);
 
diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
index b845f9d8c..55fed87d0 100644
--- a/rviz_default_plugins/CMakeLists.txt
+++ b/rviz_default_plugins/CMakeLists.txt
@@ -57,7 +57,8 @@ find_package(rviz_common REQUIRED)
 find_package(rviz_rendering REQUIRED)
 find_package(rviz_ogre_vendor REQUIRED)
 
-find_package(Qt5 REQUIRED COMPONENTS Widgets Test)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Test Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
 
 find_package(geometry_msgs REQUIRED)
 
@@ -135,7 +136,7 @@ set(rviz_default_plugins_headers_to_moc
 )
 
 foreach(header "${rviz_default_plugins_headers_to_moc}")
-  qt5_wrap_cpp(rviz_default_plugins_moc_files "${header}")
+  qt_wrap_cpp(rviz_default_plugins_moc_files "${header}")
 endforeach()
 
 set(rviz_default_plugins_source_files
@@ -240,7 +241,6 @@ add_library(rviz_default_plugins SHARED
 target_include_directories(rviz_default_plugins PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
-  ${Qt5Widgets_INCLUDE_DIRS}
 )
 
 target_link_libraries(rviz_default_plugins PUBLIC
@@ -251,6 +251,7 @@ target_link_libraries(rviz_default_plugins PUBLIC
   ${map_msgs_TARGETS}
   ${nav_msgs_TARGETS}
   point_cloud_transport::point_cloud_transport
+  Qt${QT_VERSION_MAJOR}::Widgets
   rclcpp::rclcpp
   rviz_common::rviz_common
   rviz_ogre_vendor::OgreMain
@@ -289,6 +290,7 @@ ament_export_dependencies(
   map_msgs
   nav_msgs
   point_cloud_transport
+  Qt${QT_VERSION_MAJOR}
   rclcpp
   rviz_common
   rviz_ogre_vendor
@@ -365,7 +367,7 @@ if(BUILD_TESTING)
     target_link_libraries(fps_view_controller_test
       ${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
       rviz_default_plugins
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       ogre_testing_environment
     )
   endif()
@@ -402,7 +404,7 @@ if(BUILD_TESTING)
     ${SKIP_DISPLAY_TESTS})
   if(TARGET image_display_test)
     target_include_directories(image_display_test PRIVATE test)
-    target_link_libraries(image_display_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} Qt5::Widgets rviz_default_plugins ogre_testing_environment)
+    target_link_libraries(image_display_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} Qt${QT_VERSION_MAJOR}::Widgets rviz_default_plugins ogre_testing_environment)
   endif()
 
   add_library(marker_messages STATIC test/rviz_default_plugins/displays/marker/marker_messages.cpp)
@@ -495,7 +497,7 @@ if(BUILD_TESTING)
     target_include_directories(orbit_view_controller_test PRIVATE test)
     target_link_libraries(orbit_view_controller_test
       ${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rviz_default_plugins
       ogre_testing_environment
     )
@@ -509,7 +511,7 @@ if(BUILD_TESTING)
     target_include_directories(ortho_view_controller_test PRIVATE test)
     target_link_libraries(ortho_view_controller_test
       ${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rviz_default_plugins
       ogre_testing_environment
     )
@@ -602,7 +604,7 @@ if(BUILD_TESTING)
     target_include_directories(point_cloud_transformers_test PRIVATE test)
     target_link_libraries(point_cloud_transformers_test
       ${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rviz_default_plugins
       pointcloud_messages
       ogre_testing_environment
@@ -659,7 +661,7 @@ if(BUILD_TESTING)
     target_link_libraries(robot_test
       ${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
       resource_retriever::resource_retriever
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rviz_default_plugins
       ogre_testing_environment
     )
@@ -696,7 +698,7 @@ if(BUILD_TESTING)
     target_include_directories(xy_orbit_view_controller_test PRIVATE test)
     target_link_libraries(xy_orbit_view_controller_test
       ${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rviz_default_plugins
       ogre_testing_environment
     )
@@ -773,7 +775,7 @@ if(BUILD_TESTING)
   endif()
 
   add_library(point_cloud_common_page_object STATIC test/rviz_default_plugins/page_objects/point_cloud_common_page_object.cpp)
-  target_link_libraries(point_cloud_common_page_object PRIVATE Qt5::Test rviz_visual_testing_framework::rviz_visual_testing_framework)
+  target_link_libraries(point_cloud_common_page_object PRIVATE Qt${QT_VERSION_MAJOR}::Test rviz_visual_testing_framework::rviz_visual_testing_framework)
 
   ament_add_gtest(camera_display_visual_test
     test/rviz_default_plugins/displays/camera/camera_display_visual_test.cpp
@@ -787,7 +789,7 @@ if(BUILD_TESTING)
       rclcpp::rclcpp
       ${sensor_msgs_TARGETS}
       ${std_msgs_TARGETS}
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       ${geometry_msgs_TARGETS}
       tf2::tf2
       point_cloud_common_page_object
@@ -830,7 +832,7 @@ if(BUILD_TESTING)
     target_include_directories(fluid_pressure_display_visual_test PRIVATE test)
     target_link_libraries(fluid_pressure_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rclcpp::rclcpp
       pointcloud_messages
       point_cloud_common_page_object
@@ -845,7 +847,7 @@ if(BUILD_TESTING)
   if(TARGET grid_display_visual_test)
     target_include_directories(grid_display_visual_test PRIVATE test)
     target_link_libraries(grid_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
     )
   endif()
@@ -870,7 +872,7 @@ if(BUILD_TESTING)
   if(TARGET illuminance_display_visual_test)
     target_include_directories(illuminance_display_visual_test PRIVATE test)
     target_link_libraries(illuminance_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       pointcloud_messages
       point_cloud_common_page_object
@@ -885,7 +887,7 @@ if(BUILD_TESTING)
   if(TARGET image_display_visual_test)
     target_include_directories(image_display_visual_test PRIVATE test)
     target_link_libraries(image_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       rclcpp::rclcpp
       ${sensor_msgs_TARGETS}
@@ -901,7 +903,7 @@ if(BUILD_TESTING)
     target_include_directories(interactive_marker_namespace_property_test PRIVATE test)
     target_link_libraries(interactive_marker_namespace_property_test
       rviz_default_plugins
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       ogre_testing_environment
     )
   endif()
@@ -914,13 +916,13 @@ if(BUILD_TESTING)
     target_include_directories(laser_scan_display_visual_test PRIVATE test)
     target_link_libraries(laser_scan_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       point_cloud_common_page_object
     )
   endif()
 
   add_library(marker_display_page_object STATIC test/rviz_default_plugins/page_objects/marker_display_page_object.cpp)
-  target_link_libraries(marker_display_page_object PRIVATE Qt5::Widgets rviz_visual_testing_framework::rviz_visual_testing_framework)
+  target_link_libraries(marker_display_page_object PRIVATE Qt${QT_VERSION_MAJOR}::Widgets rviz_visual_testing_framework::rviz_visual_testing_framework)
 
   ament_add_gtest(map_display_visual_test
     test/rviz_default_plugins/displays/map/map_display_visual_test.cpp
@@ -931,7 +933,7 @@ if(BUILD_TESTING)
     target_include_directories(map_display_visual_test PRIVATE test)
     target_link_libraries(map_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
       ${geometry_msgs_TARGETS}
@@ -950,7 +952,7 @@ if(BUILD_TESTING)
     target_include_directories(marker_array_display_visual_test PRIVATE test)
     target_link_libraries(marker_array_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
       ${visualization_msgs_TARGETS}
@@ -966,7 +968,7 @@ if(BUILD_TESTING)
     target_include_directories(marker_display_visual_test PRIVATE test)
     target_link_libraries(marker_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
       ${visualization_msgs_TARGETS}
@@ -983,7 +985,7 @@ if(BUILD_TESTING)
     target_include_directories(odometry_display_visual_test PRIVATE test)
     target_link_libraries(odometry_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
       ${geometry_msgs_TARGETS}
@@ -1000,7 +1002,7 @@ if(BUILD_TESTING)
   if(TARGET path_display_visual_test)
     target_include_directories(path_display_visual_test PRIVATE test)
     target_link_libraries(path_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
@@ -1018,7 +1020,7 @@ if(BUILD_TESTING)
     target_include_directories(point_display_visual_test PRIVATE test)
     target_link_libraries(point_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       ${geometry_msgs_TARGETS}
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
@@ -1032,7 +1034,7 @@ if(BUILD_TESTING)
   if(TARGET point_cloud_display_visual_test)
     target_include_directories(point_cloud_display_visual_test PRIVATE test)
     target_link_libraries(point_cloud_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       ${geometry_msgs_TARGETS}
       tf2::tf2
@@ -1050,7 +1052,7 @@ if(BUILD_TESTING)
   if(TARGET point_cloud2_display_visual_test)
     target_include_directories(point_cloud2_display_visual_test PRIVATE test)
     target_link_libraries(point_cloud2_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       pointcloud_messages
       point_cloud_common_page_object
@@ -1058,7 +1060,7 @@ if(BUILD_TESTING)
   endif()
 
   add_library(pose_display_page_object STATIC test/rviz_default_plugins/page_objects/pose_display_page_object.cpp)
-  target_link_libraries(pose_display_page_object PRIVATE Qt5::Widgets rviz_visual_testing_framework::rviz_visual_testing_framework)
+  target_link_libraries(pose_display_page_object PRIVATE Qt${QT_VERSION_MAJOR}::Widgets rviz_visual_testing_framework::rviz_visual_testing_framework)
 
   ament_add_gtest(pose_array_display_visual_test
     test/rviz_default_plugins/displays/pose_array/pose_array_display_visual_test.cpp
@@ -1069,7 +1071,7 @@ if(BUILD_TESTING)
     target_include_directories(pose_array_display_visual_test PRIVATE test)
     target_link_libraries(pose_array_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
       ${geometry_msgs_TARGETS}
@@ -1085,7 +1087,7 @@ if(BUILD_TESTING)
     target_include_directories(pose_display_visual_test PRIVATE test)
     target_link_libraries(pose_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       ${geometry_msgs_TARGETS}
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
@@ -1102,7 +1104,7 @@ if(BUILD_TESTING)
     target_include_directories(pose_with_covariance_display_visual_test PRIVATE test)
     target_link_libraries(pose_with_covariance_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       ${geometry_msgs_TARGETS}
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
@@ -1119,7 +1121,7 @@ if(BUILD_TESTING)
     target_include_directories(range_display_visual_test PRIVATE test)
     target_link_libraries(range_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
     )
   endif()
 
@@ -1130,7 +1132,7 @@ if(BUILD_TESTING)
   if(TARGET relative_humidity_display_visual_test)
     target_include_directories(relative_humidity_display_visual_test PRIVATE test)
     target_link_libraries(relative_humidity_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       point_cloud_common_page_object
     )
@@ -1156,7 +1158,7 @@ if(BUILD_TESTING)
   if(TARGET temperature_display_visual_test)
     target_include_directories(temperature_display_visual_test PRIVATE test)
     target_link_libraries(temperature_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       point_cloud_common_page_object
     )
@@ -1171,7 +1173,7 @@ if(BUILD_TESTING)
     target_include_directories(tf_display_visual_test PRIVATE test)
     target_link_libraries(tf_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
     )
   endif()
 
@@ -1199,7 +1201,7 @@ if(BUILD_TESTING)
     target_include_directories(wrench_display_visual_test PRIVATE test)
     target_link_libraries(wrench_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
     )
   endif()
 endif()
diff --git a/rviz_default_plugins/rviz_default_plugins-extras.cmake b/rviz_default_plugins/rviz_default_plugins-extras.cmake
index c3c890085..6dad73069 100644
--- a/rviz_default_plugins/rviz_default_plugins-extras.cmake
+++ b/rviz_default_plugins/rviz_default_plugins-extras.cmake
@@ -27,4 +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
-find_package(Qt5 REQUIRED QUIET COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED QUIET COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED QUIET COMPONENTS Widgets)
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp
index 5a3c159dc..dfd04f4b4 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp
@@ -33,7 +33,7 @@
 #include <Ogre.h>
 #include <tf2_ros/message_filter.h>
 
-#include <QRegExp>
+#include <QRegularExpression>
 
 #include <iostream>
 #include <functional>
@@ -81,8 +81,8 @@ DepthCloudDisplay::DepthCloudDisplay()
 {
   ml_depth_data_ = std::make_unique<rviz_common::MultiLayerDepth>();
   // Depth map properties
-  QRegExp depth_filter("depth");
-  depth_filter.setCaseSensitivity(Qt::CaseInsensitive);
+  QRegularExpression depth_filter("depth");
+  depth_filter.setPatternOptions(QRegularExpression::CaseInsensitiveOption);
 
   reliability_policy_property_ = new rviz_common::properties::EditableEnumProperty(
     "Reliability Policy",
@@ -119,8 +119,8 @@ DepthCloudDisplay::DepthCloudDisplay()
   depth_transport_property_->setStdString("raw");
 
   // color image properties
-  QRegExp color_filter("color|rgb|bgr|gray|mono");
-  color_filter.setCaseSensitivity(Qt::CaseInsensitive);
+  QRegularExpression color_filter("color|rgb|bgr|gray|mono");
+  color_filter.setPatternOptions(QRegularExpression::CaseInsensitiveOption);
 
   color_topic_property_ = new rviz_common::properties::RosFilteredTopicProperty(
     "Color Image Topic", "",
diff --git a/rviz_rendering/CMakeLists.txt b/rviz_rendering/CMakeLists.txt
index fee1258b8..b58fd1031 100644
--- a/rviz_rendering/CMakeLists.txt
+++ b/rviz_rendering/CMakeLists.txt
@@ -33,7 +33,8 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(rviz_ogre_vendor REQUIRED)
 find_package(rviz_assimp_vendor REQUIRED)
 
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 
 find_package(ament_index_cpp REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
@@ -41,29 +42,29 @@ find_package(Eigen3 REQUIRED)
 find_package(resource_retriever REQUIRED)
 
 # TODO(wjwwood): this block is to setup the windeployqt tool, could be removed later.
-if(Qt5_FOUND AND WIN32 AND TARGET Qt5::qmake AND NOT TARGET Qt5::windeployqt)
-  get_target_property(_qt5_qmake_location Qt5::qmake IMPORTED_LOCATION)
+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)
 
   execute_process(
-    COMMAND "${_qt5_qmake_location}" -query QT_INSTALL_PREFIX
+    COMMAND "${_qt_qmake_location}" -query Qt${QT_VERSION_MAJOR}_INSTALL_PREFIX
     RESULT_VARIABLE return_code
-    OUTPUT_VARIABLE qt5_install_prefix
+    OUTPUT_VARIABLE qt_install_prefix
     OUTPUT_STRIP_TRAILING_WHITESPACE
   )
 
-  set(imported_location "${qt5_install_prefix}/bin/windeployqt.exe")
+  set(imported_location "${qt_install_prefix}/bin/windeployqt.exe")
 
   if(EXISTS ${imported_location})
-    add_executable(Qt5::windeployqt IMPORTED)
+    add_executable(Qt${QT_VERSION_MAJOR}::windeployqt IMPORTED)
 
-    set_target_properties(Qt5::windeployqt PROPERTIES
+    set_target_properties(Qt${QT_VERSION_MAJOR}::windeployqt PROPERTIES
       IMPORTED_LOCATION ${imported_location}
     )
   endif()
 endif()
 
 # These need to be added in the add_library() call
-qt5_wrap_cpp(rviz_rendering_moc_files include/rviz_rendering/render_window.hpp)
+qt_wrap_cpp(rviz_rendering_moc_files include/rviz_rendering/render_window.hpp)
 
 add_library(rviz_rendering SHARED
   ${rviz_rendering_moc_files}
@@ -100,7 +101,7 @@ add_library(rviz_rendering SHARED
 )
 
 target_link_libraries(rviz_rendering PUBLIC
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Widgets
   rviz_ogre_vendor::OgreMain
   rviz_ogre_vendor::OgreOverlay
 )
@@ -128,7 +129,7 @@ target_compile_definitions(rviz_rendering PRIVATE "RVIZ_RENDERING_BUILDING_LIBRA
 
 ament_export_dependencies(
   Eigen3
-  Qt5
+  Qt${QT_VERSION_MAJOR}
   rviz_ogre_vendor
 )
 
@@ -194,7 +195,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 
@@ -206,7 +207,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 
@@ -218,7 +219,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 
@@ -230,7 +231,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 
@@ -242,7 +243,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 
@@ -254,7 +255,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 
@@ -267,7 +268,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreOverlay
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
     )
   endif()
 
@@ -279,7 +280,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 
@@ -291,7 +292,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 
@@ -303,7 +304,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 
@@ -315,7 +316,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 
@@ -327,7 +328,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
+      Qt${QT_VERSION_MAJOR}::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
 endif()
diff --git a/rviz_rendering/rviz_rendering-extras.cmake b/rviz_rendering/rviz_rendering-extras.cmake
index 936845819..997c445ba 100644
--- a/rviz_rendering/rviz_rendering-extras.cmake
+++ b/rviz_rendering/rviz_rendering-extras.cmake
@@ -27,4 +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
-find_package(Qt5 REQUIRED QUIET COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED QUIET COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED QUIET COMPONENTS Widgets)
diff --git a/rviz_rendering_tests/CMakeLists.txt b/rviz_rendering_tests/CMakeLists.txt
index 3b593ddc6..ddaaad439 100644
--- a/rviz_rendering_tests/CMakeLists.txt
+++ b/rviz_rendering_tests/CMakeLists.txt
@@ -32,7 +32,8 @@ find_package(ament_cmake REQUIRED)
 if(BUILD_TESTING)
   # do find_package(rviz_ogre_vendor) first to make sure the custom OGRE is found
   find_package(rviz_ogre_vendor REQUIRED)
-  find_package(Qt5 REQUIRED COMPONENTS Widgets)
+  find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
   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 f393ec727..b4c8156f0 100644
--- a/rviz_visual_testing_framework/CMakeLists.txt
+++ b/rviz_visual_testing_framework/CMakeLists.txt
@@ -25,7 +25,8 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(Qt5 REQUIRED COMPONENTS Widgets Test)
+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)
@@ -39,13 +40,13 @@ find_package(ament_cmake_gtest REQUIRED)
 ament_find_gtest()
 
 # TODO(wjwwood): this block is to setup the windeployqt tool, could be removed later.
-if(Qt5_FOUND AND WIN32 AND TARGET Qt5::qmake AND NOT TARGET Qt5::windeployqt)
-  get_target_property(_qt5_qmake_location Qt5::qmake IMPORTED_LOCATION)
+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)
 
   execute_process(
-    COMMAND "${_qt5_qmake_location}" -query QT_INSTALL_PREFIX
+    COMMAND "${_qt_qmake_location}" -query QT_INSTALL_PREFIX
     RESULT_VARIABLE return_code
-    OUTPUT_VARIABLE qt5_install_prefix
+    OUTPUT_VARIABLE qt_install_prefix
     OUTPUT_STRIP_TRAILING_WHITESPACE
   )
 endif()
@@ -71,8 +72,8 @@ target_include_directories(rviz_visual_testing_framework
 
 target_link_libraries(rviz_visual_testing_framework PUBLIC
   ${geometry_msgs_TARGETS}
-  Qt5::Test
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Test
+  Qt${QT_VERSION_MAJOR}::Widgets
   rclcpp::rclcpp
   rcutils::rcutils
   rviz_common::rviz_common
@@ -84,7 +85,7 @@ target_link_libraries(rviz_visual_testing_framework PUBLIC
 )
 
 # export information to downstream packages
-ament_export_dependencies(geometry_msgs Qt5 rclcpp rcutils rviz_common rviz_ogre_vendor rviz_rendering std_msgs tf2 tf2_ros)
+ament_export_dependencies(geometry_msgs Qt${QT_VERSION_MAJOR} rclcpp rcutils rviz_common rviz_ogre_vendor rviz_rendering std_msgs tf2 tf2_ros)
 
 # Export old-style CMake variables
 ament_export_include_directories("include/${PROJECT_NAME}")