diff --git a/rviz_ogre_vendor/package.xml b/rviz_ogre_vendor/package.xml
index 20155a578..18e63d357 100644
--- a/rviz_ogre_vendor/package.xml
+++ b/rviz_ogre_vendor/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <?xml-model
-  href="http://download.ros.org/schema/package_format2.xsd"
+  href="http://download.ros.org/schema/package_format3.xsd"
   schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<package format="3">
   <name>rviz_ogre_vendor</name>
   <version>15.1.9</version>
   <description>
@@ -28,7 +28,8 @@
   <build_export_depend>libglew-dev</build_export_depend>
   <exec_depend>libfreetype6</exec_depend>
 
-  <depend>libx11-dev</depend>
+  <depend condition="$XDG_SESSION_TYPE == 'x11'">libx11-dev</depend>
+  <depend condition="$XDG_SESSION_TYPE == 'wayland'">libwayland-dev</depend>
   <depend>libxaw</depend>
   <depend>libxrandr</depend>
   <depend>opengl</depend>
diff --git a/rviz_ogre_vendor/rviz_ogre_vendor-extras.cmake.in b/rviz_ogre_vendor/rviz_ogre_vendor-extras.cmake.in
index cb60126ac..29e349c7d 100644
--- a/rviz_ogre_vendor/rviz_ogre_vendor-extras.cmake.in
+++ b/rviz_ogre_vendor/rviz_ogre_vendor-extras.cmake.in
@@ -125,10 +125,19 @@ foreach(_lib IN LISTS OGRE_LIBRARIES)
     list(APPEND _extra_interface_link_libraries ${OPENGL_LIBRARIES})
     list(APPEND _extra_interface_link_libraries ${CMAKE_DL_LIBS})
     if(UNIX AND NOT APPLE)
-      find_package(X11 REQUIRED)
-      list(APPEND _extra_interface_link_libraries ${X11_LIBRARIES} ${X11_Xt_LIB} ${X11_Xrandr_LIB})
-      find_library(XAW_LIBRARY NAMES Xaw Xaw7 PATHS ${DEP_LIB_SEARCH_DIR} ${X11_LIB_SEARCH_PATH})
-      list(APPEND _extra_interface_link_libraries ${XAW_LIBRARY})
+      find_package(X11 QUIET)
+      if (NOT XAW_LIBRARY OR NOT X11_Xt_FOUND)
+        set(X11_FOUND FALSE)
+      endif ()
+
+      if(X11_Xt_FOUND)
+        list(APPEND _extra_interface_link_libraries ${X11_LIBRARIES} ${X11_Xt_LIB} ${X11_Xrandr_LIB})
+        find_library(XAW_LIBRARY NAMES Xaw Xaw7 PATHS ${DEP_LIB_SEARCH_DIR} ${X11_LIB_SEARCH_PATH})
+        list(APPEND _extra_interface_link_libraries ${XAW_LIBRARY})
+      else()
+        pkg_check_modules(waylands IMPORTED_TARGET wayland-client wayland-egl egl)
+      endif()
+
     endif()
     if(APPLE)
       list(APPEND _extra_interface_link_libraries "-framework Cocoa")