diff --git a/rviz2/CMakeLists.txt b/rviz2/CMakeLists.txt
index 8b063c907..2d602f0f3 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${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 ${imported_location}
     )
   endif()
@@ -48,21 +49,21 @@ target_link_libraries(${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 15f5ed9c5..8b93f3643 100644
--- a/rviz_common/CMakeLists.txt
+++ b/rviz_common/CMakeLists.txt
@@ -31,7 +31,14 @@ 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${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+if(${QT_VERSION} VERSION_LESS 5.15.0)
+  function(qt_wrap_cpp out)
+    qt5_wrap_cpp(_sources ${ARGN})
+    set("${out}" ${_sources} PARENT_SCOPE)
+  endfunction()
+endif()
 
 find_package(geometry_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -132,7 +139,7 @@ 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
@@ -240,7 +247,7 @@ 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
@@ -266,7 +273,7 @@ ament_export_dependencies(
   geometry_msgs
   message_filters
   pluginlib
-  Qt5
+  Qt${QT_VERSION_MAJOR}
   rclcpp
   rviz_ogre_vendor
   rviz_rendering
@@ -325,10 +332,10 @@ 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
@@ -337,7 +344,7 @@ 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
@@ -446,7 +453,7 @@ 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 ede824a45..8e423065d 100644
--- a/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
+++ b/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
@@ -32,6 +32,7 @@
 
 #include <string>
 
+#include <QRegularExpression>  // NOLINT: cpplint is unable to handle the include order here
 #include <QString>  // NOLINT: cpplint is unable to handle the include order here
 
 #include "rviz_common/properties/editable_enum_property.hpp"
@@ -92,20 +93,20 @@ 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 bbaf6efdb..5de5a16c5 100644
--- a/rviz_common/rviz_common-extras.cmake
+++ b/rviz_common/rviz_common-extras.cmake
@@ -30,4 +30,5 @@
 
 # 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 QUIET COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} 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 e25199813..3b78550d7 100644
--- a/rviz_common/src/rviz_common/add_display_dialog.cpp
+++ b/rviz_common/src/rviz_common/add_display_dialog.cpp
@@ -47,6 +47,7 @@
 #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 <QString>  // 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
@@ -592,7 +593,7 @@ 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 a2f7fdfdb..95b372f4f 100644
--- a/rviz_common/src/rviz_common/properties/property_tree_model.cpp
+++ b/rviz_common/src/rviz_common/properties/property_tree_model.cpp
@@ -33,6 +33,7 @@
 
 #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 <QString>  // 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 45b510c3e..f1c74ec07 100644
--- a/rviz_common/src/rviz_common/properties/ros_topic_property.cpp
+++ b/rviz_common/src/rviz_common/properties/ros_topic_property.cpp
@@ -96,7 +96,7 @@ 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)
@@ -112,7 +112,7 @@ 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 9c0ac2383..25756c687 100644
--- a/rviz_common/src/rviz_common/tool_manager.cpp
+++ b/rviz_common/src/rviz_common/tool_manager.cpp
@@ -36,7 +36,7 @@
 
 #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 <QString>  // NOLINT: cpplint is unable to handle the include order here
 
 #include "rviz_common/logging.hpp"
@@ -54,7 +54,7 @@ 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 457957ce5..d9a7d57db 100644
--- a/rviz_common/src/rviz_common/visualization_frame.cpp
+++ b/rviz_common/src/rviz_common/visualization_frame.cpp
@@ -43,6 +43,7 @@
 #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
@@ -264,7 +265,7 @@ 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 63a189b5f..84a6dcce9 100644
--- a/rviz_default_plugins/CMakeLists.txt
+++ b/rviz_default_plugins/CMakeLists.txt
@@ -57,7 +57,14 @@ 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${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
+if(${QT_VERSION} VERSION_LESS 5.15.0)
+  function(qt_wrap_cpp out)
+    qt5_wrap_cpp(_sources ${ARGN})
+    set("${out}" ${_sources} PARENT_SCOPE)
+  endfunction()
+endif()
 
 find_package(geometry_msgs REQUIRED)
 
@@ -137,7 +144,7 @@ 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
@@ -254,6 +261,7 @@ 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
@@ -294,6 +302,7 @@ ament_export_dependencies(
   map_msgs
   nav_msgs
   point_cloud_transport
+  Qt${QT_VERSION_MAJOR}
   rclcpp
   rviz_common
   rviz_ogre_vendor
@@ -370,7 +379,7 @@ 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()
@@ -421,7 +430,12 @@ 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)
@@ -514,7 +528,7 @@ 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
     )
@@ -528,7 +542,7 @@ 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
     )
@@ -621,7 +635,7 @@ 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
@@ -678,7 +692,7 @@ 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
     )
@@ -715,7 +729,7 @@ 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
     )
@@ -792,7 +806,11 @@ 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
@@ -806,7 +824,7 @@ if(BUILD_TESTING)
       rclcpp::rclcpp
       ${sensor_msgs_TARGETS}
       ${std_msgs_TARGETS}
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       ${geometry_msgs_TARGETS}
       tf2::tf2
       point_cloud_common_page_object
@@ -849,7 +867,7 @@ if(BUILD_TESTING)
     target_include_directories(fluid_pressure_display_visual_test PRIVATE test)
     target_link_libraries(fluid_pressure_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rclcpp::rclcpp
       pointcloud_messages
       point_cloud_common_page_object
@@ -864,7 +882,7 @@ 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${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
     )
   endif()
@@ -889,7 +907,7 @@ if(BUILD_TESTING)
   if(TARGET illuminance_display_visual_test)
     target_include_directories(illuminance_display_visual_test PRIVATE test)
     target_link_libraries(illuminance_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       pointcloud_messages
       point_cloud_common_page_object
@@ -904,7 +922,7 @@ 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
       ${sensor_msgs_TARGETS}
@@ -920,7 +938,7 @@ if(BUILD_TESTING)
     target_include_directories(interactive_marker_namespace_property_test PRIVATE test)
     target_link_libraries(interactive_marker_namespace_property_test
       rviz_default_plugins
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       ogre_testing_environment
     )
   endif()
@@ -933,13 +951,17 @@ 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
@@ -950,7 +972,7 @@ 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}
       ${geometry_msgs_TARGETS}
@@ -969,7 +991,7 @@ if(BUILD_TESTING)
     target_include_directories(marker_array_display_visual_test PRIVATE test)
     target_link_libraries(marker_array_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
       ${visualization_msgs_TARGETS}
@@ -985,7 +1007,7 @@ if(BUILD_TESTING)
     target_include_directories(marker_display_visual_test PRIVATE test)
     target_link_libraries(marker_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
       ${visualization_msgs_TARGETS}
@@ -1002,7 +1024,7 @@ if(BUILD_TESTING)
     target_include_directories(odometry_display_visual_test PRIVATE test)
     target_link_libraries(odometry_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
       ${geometry_msgs_TARGETS}
@@ -1019,7 +1041,7 @@ if(BUILD_TESTING)
   if(TARGET path_display_visual_test)
     target_include_directories(path_display_visual_test PRIVATE test)
     target_link_libraries(path_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
@@ -1037,7 +1059,7 @@ if(BUILD_TESTING)
     target_include_directories(point_display_visual_test PRIVATE test)
     target_link_libraries(point_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       ${geometry_msgs_TARGETS}
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
@@ -1051,7 +1073,7 @@ if(BUILD_TESTING)
   if(TARGET point_cloud_display_visual_test)
     target_include_directories(point_cloud_display_visual_test PRIVATE test)
     target_link_libraries(point_cloud_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       ${geometry_msgs_TARGETS}
       tf2::tf2
@@ -1069,7 +1091,7 @@ if(BUILD_TESTING)
   if(TARGET point_cloud2_display_visual_test)
     target_include_directories(point_cloud2_display_visual_test PRIVATE test)
     target_link_libraries(point_cloud2_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       pointcloud_messages
       point_cloud_common_page_object
@@ -1077,7 +1099,11 @@ 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
@@ -1088,7 +1114,7 @@ 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}
       ${geometry_msgs_TARGETS}
@@ -1104,7 +1130,7 @@ if(BUILD_TESTING)
     target_include_directories(pose_display_visual_test PRIVATE test)
     target_link_libraries(pose_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       ${geometry_msgs_TARGETS}
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
@@ -1121,7 +1147,7 @@ if(BUILD_TESTING)
     target_include_directories(pose_with_covariance_display_visual_test PRIVATE test)
     target_link_libraries(pose_with_covariance_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
       ${geometry_msgs_TARGETS}
       rclcpp::rclcpp
       ${std_msgs_TARGETS}
@@ -1138,7 +1164,7 @@ if(BUILD_TESTING)
     target_include_directories(range_display_visual_test PRIVATE test)
     target_link_libraries(range_display_visual_test
       rviz_visual_testing_framework::rviz_visual_testing_framework
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
     )
   endif()
 
@@ -1149,7 +1175,7 @@ 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${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       point_cloud_common_page_object
     )
@@ -1175,7 +1201,7 @@ if(BUILD_TESTING)
   if(TARGET temperature_display_visual_test)
     target_include_directories(temperature_display_visual_test PRIVATE test)
     target_link_libraries(temperature_display_visual_test
-      Qt5::Test
+      Qt${QT_VERSION_MAJOR}::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       point_cloud_common_page_object
     )
@@ -1190,7 +1216,7 @@ 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()
 
@@ -1218,7 +1244,7 @@ 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 0daa129c2..5e73d681a 100644
--- a/rviz_default_plugins/rviz_default_plugins-extras.cmake
+++ b/rviz_default_plugins/rviz_default_plugins-extras.cmake
@@ -29,4 +29,5 @@
 
 # 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 QUIET COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} 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 d12977c0b..0aa028a50 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 <QString>
 
 #include <iostream>
@@ -82,8 +82,8 @@ 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",
@@ -120,8 +120,8 @@ 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 884af9be1..74de3e7c1 100644
--- a/rviz_rendering/CMakeLists.txt
+++ b/rviz_rendering/CMakeLists.txt
@@ -33,7 +33,14 @@ 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${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+if(${QT_VERSION} VERSION_LESS 5.15.0)
+  function(qt_wrap_cpp out)
+    qt5_wrap_cpp(_sources ${ARGN})
+    set("${out}" ${_sources} PARENT_SCOPE)
+  endfunction()
+endif()
 
 find_package(ament_index_cpp REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
@@ -41,29 +48,29 @@ 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 +107,7 @@ 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 +135,7 @@ target_compile_definitions(rviz_rendering PRIVATE "RVIZ_RENDERING_BUILDING_LIBRA
 
 ament_export_dependencies(
   Eigen3
-  Qt5
+  Qt${QT_VERSION_MAJOR}
   rviz_ogre_vendor
 )
 
@@ -194,7 +201,7 @@ 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 +213,7 @@ 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 +225,7 @@ 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 +237,7 @@ 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 +249,7 @@ 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 +261,7 @@ 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 +274,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreOverlay
       rviz_rendering
       rviz_rendering_test_utils
-      Qt5::Widgets
+      Qt${QT_VERSION_MAJOR}::Widgets
     )
   endif()
 
@@ -279,7 +286,7 @@ 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 +298,7 @@ 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 +310,7 @@ 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 +322,7 @@ 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 +334,7 @@ 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 d665e3765..af934a9a3 100644
--- a/rviz_rendering/rviz_rendering-extras.cmake
+++ b/rviz_rendering/rviz_rendering-extras.cmake
@@ -30,4 +30,5 @@
 
 # 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 QUIET COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)
diff --git a/rviz_rendering_tests/CMakeLists.txt b/rviz_rendering_tests/CMakeLists.txt
index e3d6603e5..d86f45699 100644
--- a/rviz_rendering_tests/CMakeLists.txt
+++ b/rviz_rendering_tests/CMakeLists.txt
@@ -32,7 +32,14 @@ find_package(ament_cmake REQUIRED)
 if(BUILD_TESTING)
   # do find_package(rviz_ogre_vendor) first to make sure the custom OGRE is found
   find_package(rviz_ogre_vendor REQUIRED)
-  find_package(Qt5 REQUIRED COMPONENTS Widgets)
+  find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+  find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+  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()
   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 00fea10e9..c1586c57b 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${QT_VERSION_MAJOR}_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 +85,18 @@ 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}")