diff --git a/README.md b/README.md
index 4ed61bf..e568f29 100644
--- a/README.md
+++ b/README.md
@@ -21,7 +21,7 @@ Key features:
 
 - OS: [Ubuntu 22.04](https://releases.ubuntu.com/jammy/) or [Ubuntu 24.04](https://releases.ubuntu.com/noble/)
 
-- Gazebo: [Harmonic](https://gazebosim.org/docs/harmonic/install)
+- Gazebo: [Ionic](https://gazebosim.org/docs/ionic/install/)
 
 - GPU: CUDA-enabled
 
diff --git a/RGLServerPlugin/CMakeLists.txt b/RGLServerPlugin/CMakeLists.txt
index 22b3e40..e86214c 100644
--- a/RGLServerPlugin/CMakeLists.txt
+++ b/RGLServerPlugin/CMakeLists.txt
@@ -2,20 +2,18 @@ cmake_minimum_required(VERSION 3.21)
 project(RGLServerPlugin)
 set(CMAKE_CXX_STANDARD 20)
 
-find_package(gz-cmake3 REQUIRED)
-gz_find_package(gz-plugin2 REQUIRED COMPONENTS register)
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
-
-gz_find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+find_package(gz_plugin_vendor REQUIRED)
+find_package(gz-plugin REQUIRED)
+find_package(gz_sim_vendor REQUIRED)
+find_package(gz-sim REQUIRED)
 
 include_directories(include)
 
 add_library(RGLServerPluginManager SHARED src/RGLServerPluginManager.cc src/Mesh.cc src/Utils.cc src/Scene.cc)
 target_include_directories(RGLServerPluginManager PRIVATE RobotecGPULidar)
 target_link_libraries(RGLServerPluginManager
-    PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-    PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+    PRIVATE gz-plugin::gz-plugin
+    PRIVATE gz-sim::gz-sim
     PRIVATE RobotecGPULidar
 )
 set_target_properties(RGLServerPluginManager PROPERTIES INSTALL_RPATH "$ORIGIN")
@@ -23,8 +21,8 @@ set_target_properties(RGLServerPluginManager PROPERTIES INSTALL_RPATH "$ORIGIN")
 add_library(RGLServerPluginInstance SHARED src/RGLServerPluginInstance.cc src/Lidar.cc src/Utils.cc src/LidarPatternLoader.cc)
 target_include_directories(RGLServerPluginInstance PRIVATE RobotecGPULidar)
 target_link_libraries(RGLServerPluginInstance
-    PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-    PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+    PRIVATE gz-plugin::gz-plugin
+    PRIVATE gz-sim::gz-sim
     PRIVATE RobotecGPULidar
 )
 set_target_properties(RGLServerPluginInstance PROPERTIES INSTALL_RPATH "$ORIGIN")
diff --git a/RGLVisualize/CMakeLists.txt b/RGLVisualize/CMakeLists.txt
index 0b22237..3269c3e 100644
--- a/RGLVisualize/CMakeLists.txt
+++ b/RGLVisualize/CMakeLists.txt
@@ -9,16 +9,12 @@ project(RGLVisualize)
 
 set(CMAKE_AUTOMOC ON)
 
-find_package(gz-cmake3 REQUIRED)
-gz_find_package(gz-msgs10 REQUIRED)
-set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
-
-gz_find_package(gz-rendering8 REQUIRED)
-set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
-
-
-gz_find_package(gz-gui8 REQUIRED)
-set(GZ_GUI_VER ${gz-gui8_VERSION_MAJOR})
+find_package(gz_msgs_vendor REQUIRED)
+find_package(gz-msgs REQUIRED)
+find_package(gz_rendering_vendor REQUIRED)
+find_package(gz-rendering REQUIRED)
+find_package(gz_gui_vendor REQUIRED)
+find_package(gz-gui REQUIRED)
 
 QT5_ADD_RESOURCES(resources_RCC RGLVisualize.qrc)
 
@@ -29,9 +25,9 @@ add_library(RGLVisualize SHARED
 
 target_link_libraries(RGLVisualize
     PRIVATE
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
-    gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
-    gz-gui${GZ_GUI_VER}::gz-gui${GZ_GUI_VER}
+    gz-msgs::gz-msgs
+    gz-rendering::gz-rendering
+    gz-gui::gz-gui
 )
 
 ## Install libraries
diff --git a/RGLVisualize/RGLVisualize.cc b/RGLVisualize/RGLVisualize.cc
index c2116ad..2dd0244 100644
--- a/RGLVisualize/RGLVisualize.cc
+++ b/RGLVisualize/RGLVisualize.cc
@@ -291,7 +291,7 @@ void RGLVisualizePrivate::ClearMarkers()
   msg.set_id(0);
   msg.set_action(gz::msgs::Marker::DELETE_ALL);
 
-  igndbg << "Clearing markers on "
+  gzdbg << "Clearing markers on "
          << this->pointCloudTopic
          << std::endl;