diff --git a/turtlesim/CMakeLists.txt b/turtlesim/CMakeLists.txt
index 0e36df55..92012d2c 100644
--- a/turtlesim/CMakeLists.txt
+++ b/turtlesim/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 project(turtlesim)
 
 if(NOT CMAKE_CXX_STANDARD)
@@ -13,16 +13,27 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+
+if(USE_QT6)
+  find_package(Qt6 REQUIRED COMPONENTS Widgets)
+  set(QT_VERSION_MAJOR 6)
+else()
+  find_package(Qt5 REQUIRED COMPONENTS Widgets)
+  set(QT_VERSION_MAJOR 5)
+endif()
+
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(turtlesim_msgs REQUIRED)
 
-include_directories(include ${Qt5Widgets_INCLUDE_DIRS})
-
-qt5_wrap_cpp(turtlesim_node_MOCS include/turtlesim/turtle_frame.hpp)
+if(${QT_VERSION_MAJOR} GREATER "5")
+  qt_standard_project_setup()
+  qt_wrap_cpp(turtlesim_node_MOCS include/turtlesim/turtle_frame.hpp)
+else()
+  qt5_wrap_cpp(turtlesim_node_MOCS include/turtlesim/turtle_frame.hpp)
+endif()
 
 add_executable(turtlesim_node
   src/turtlesim.cpp
@@ -30,18 +41,27 @@ add_executable(turtlesim_node
   src/turtle_frame.cpp
   ${turtlesim_node_MOCS}
 )
+target_include_directories(turtlesim_node PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+  ${Qt${QT_VERSION_MAJOR}Widgets_INCLUDE_DIRS}
+)
 target_link_libraries(turtlesim_node PRIVATE
   ament_index_cpp::ament_index_cpp
   ${cpp_typesupport_target}
   ${geometry_msgs_TARGETS}
   ${turtlesim_msgs_TARGETS}
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Widgets
   rclcpp::rclcpp
   rclcpp_action::rclcpp_action
   ${std_srvs_TARGETS}
 )
 
 add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp)
+target_include_directories(turtle_teleop_key PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
 target_link_libraries(turtle_teleop_key PRIVATE
   ${turtlesim_msgs_TARGETS}
   ${geometry_msgs_TARGETS}
@@ -50,6 +70,10 @@ target_link_libraries(turtle_teleop_key PRIVATE
 )
 
 add_executable(draw_square tutorials/draw_square.cpp)
+target_include_directories(draw_square PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
 target_link_libraries(draw_square PRIVATE
   ${turtlesim_msgs_TARGETS}
   ${geometry_msgs_TARGETS}
@@ -58,6 +82,10 @@ target_link_libraries(draw_square PRIVATE
 )
 
 add_executable(mimic tutorials/mimic.cpp)
+target_include_directories(mimic PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
 target_link_libraries(mimic PRIVATE
   ${turtlesim_msgs_TARGETS}
   ${geometry_msgs_TARGETS}