diff --git a/rviz_common/CMakeLists.txt b/rviz_common/CMakeLists.txt
index 154e1f003..770befd0c 100644
--- a/rviz_common/CMakeLists.txt
+++ b/rviz_common/CMakeLists.txt
@@ -48,7 +48,7 @@ find_package(rviz_rendering REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
-find_package(tinyxml2_vendor REQUIRED)
+find_package(TinyXML2 REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(message_filters REQUIRED)
@@ -56,8 +56,6 @@ find_package(urdf REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
-find_package(TinyXML2 REQUIRED)  # provided by tinyxml2_vendor
-
 # Copy env_config.hpp so that env_config.cpp can find it
 # TODO(jsquare): Get rid of copy hpp file
 set(ENV_CONFIG_HPP ${CMAKE_CURRENT_BINARY_DIR}/src/rviz_common/env_config.hpp)
diff --git a/rviz_common/package.xml b/rviz_common/package.xml
index cb47feb9b..b0283f161 100644
--- a/rviz_common/package.xml
+++ b/rviz_common/package.xml
@@ -49,7 +49,7 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>message_filters</depend>
-  <depend>tinyxml2_vendor</depend>
+  <depend>tinyxml2</depend>
   <depend>urdf</depend>
   <depend>yaml_cpp_vendor</depend>