diff --git a/CMakeLists.txt b/CMakeLists.txt
index da6c5501b..d51d30316 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -94,7 +94,7 @@ if ( ament_cmake_FOUND )
     message(STATUS "------------------------------------------")
     include(cmake/ament_build.cmake)
 
-    find_package(tinyxml2_vendor REQUIRED)
+    find_package(tinyxml2_vendor QUIET)
     find_package(TinyXML2 REQUIRED)
 else()
     message(STATUS "------------------------------------------")
diff --git a/package.xml b/package.xml
index b41fd115b..dfcc0fcf6 100644
--- a/package.xml
+++ b/package.xml
@@ -23,7 +23,9 @@
   <depend>libsqlite3-dev</depend>
   <depend>libzmq3-dev</depend>
   <depend>tinyxml2</depend>
-  <depend>tinyxml2_vendor</depend>
+  <!-- tinyxml2_vendor is deprecated and was removed from Rolling (gone in Lyrical);
+       keep it only on the distros that still ship it -->
+  <depend condition="$ROS_DISTRO == humble or $ROS_DISTRO == jazzy or $ROS_DISTRO == kilted">tinyxml2_vendor</depend>
 
   <test_depend >ament_cmake_gtest</test_depend>