diff --git a/src/modules/simulation/gz_bridge/CMakeLists.txt b/src/modules/simulation/gz_bridge/CMakeLists.txt
index d6565d0b1f..aa4b1be37e 100644
--- a/src/modules/simulation/gz_bridge/CMakeLists.txt
+++ b/src/modules/simulation/gz_bridge/CMakeLists.txt
@@ -32,7 +32,7 @@
 ############################################################################
 
 if(NOT DEFINED ENV{GZ_DISTRO} OR NOT "$ENV{GZ_DISTRO}" STREQUAL "harmonic")
-    find_package(gz-transport NAMES gz-transport14 gz-transport13)
+    find_package(gz-transport NAMES gz-transport gz-transport14 gz-transport13)
 else()
     find_package(gz-transport NAMES gz-transport13)
 endif()
@@ -41,6 +41,11 @@ file(GLOB gz_worlds ${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf)
 file(GLOB gz_airframes ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gz_*)
 
 if (gz-transport_FOUND)
+    if (gz-transport_VERSION VERSION_LESS "15")
+        set(GZ_TRANSPORT_TARGET "gz-transport${gz-transport_VERSION_MAJOR}::core")
+    else()
+        set(GZ_TRANSPORT_TARGET "gz-transport::core")
+    endif()
 	px4_add_module(
 		MODULE modules__simulation__gz_bridge
 		MAIN gz_bridge
@@ -60,7 +65,7 @@ if (gz-transport_FOUND)
 		DEPENDS
 			mixer_module
 			px4_work_queue
-			gz-transport${gz-transport_VERSION_MAJOR}::core
+			${GZ_TRANSPORT_TARGET}
 		MODULE_CONFIG
 			module.yaml
 	)
diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
index aaca2a3035..ae53bb637a 100644
--- a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
+++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
@@ -33,6 +33,8 @@
 
 #include "GZMixingInterfaceServo.hpp"
 
+#include <gz/msgs/double.pb.h>
+
 
 float
 GZMixingInterfaceServo::get_servo_angle_max(const size_t index)
diff --git a/src/modules/simulation/gz_plugins/CMakeLists.txt b/src/modules/simulation/gz_plugins/CMakeLists.txt
index 1eb9f59886..7fc65c8b5b 100644
--- a/src/modules/simulation/gz_plugins/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/CMakeLists.txt
@@ -34,10 +34,10 @@
 project(px4_gz_plugins)
 
 if(NOT DEFINED ENV{GZ_DISTRO} OR NOT "$ENV{GZ_DISTRO}"  STREQUAL "harmonic")
-    find_package(gz-transport NAMES gz-transport14 gz-transport13)
-    find_package(gz-sim NAMES gz-sim9 gz-sim8)
-    find_package(gz-sensors NAMES gz-sensors9 gz-sensors8)
-    find_package(gz-plugin NAMES gz-plugin3 gz-plugin2 COMPONENTS register)
+    find_package(gz-transport NAMES gz-transport gz-transport14 gz-transport13)
+    find_package(gz-sim NAMES gz-sim gz-sim9 gz-sim8)
+    find_package(gz-sensors NAMES gz-sensors gz-sensors9 gz-sensors8)
+    find_package(gz-plugin NAMES gz-plugin gz-plugin3 gz-plugin2 COMPONENTS register)
 else()
     find_package(gz-transport NAMES gz-transport13)
     find_package(gz-sim NAMES gz-sim8)
@@ -46,6 +46,17 @@ else()
 endif()
 
 if (gz-transport_FOUND)
+    if (gz-transport_VERSION VERSION_LESS "15")
+        set(GZ_TRANSPORT_TARGET "gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}")
+        set(GZ_SIM_TARGET "gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}")
+        set(GZ_SENSORS_TARGET "gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}")
+        set(GZ_PLUGIN_TARGET "gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}")
+    else()
+        set(GZ_TRANSPORT_TARGET "gz-transport::gz-transport")
+        set(GZ_SIM_TARGET "gz-sim::gz-sim")
+        set(GZ_SENSORS_TARGET "gz-sensors::gz-sensors")
+        set(GZ_PLUGIN_TARGET "gz-plugin::gz-plugin")
+    endif()
     # Create a flat output directory for all plugin libraries
     set(PX4_GZ_PLUGIN_OUTPUT_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE PATH "Directory for all Gazebo plugin libraries")
     file(MAKE_DIRECTORY ${PX4_GZ_PLUGIN_OUTPUT_DIR})
diff --git a/src/modules/simulation/gz_plugins/buoyancy/CMakeLists.txt b/src/modules/simulation/gz_plugins/buoyancy/CMakeLists.txt
index a89818eb11..762cd701d8 100644
--- a/src/modules/simulation/gz_plugins/buoyancy/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/buoyancy/CMakeLists.txt
@@ -48,10 +48,10 @@ add_library(${PROJECT_NAME} SHARED
 
 target_link_libraries(${PROJECT_NAME}
     PUBLIC px4_gz_msgs
-    PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
-    PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
-    PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
-    PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
+    PUBLIC ${GZ_SENSORS_TARGET}
+    PUBLIC ${GZ_PLUGIN_TARGET}
+    PUBLIC ${GZ_SIM_TARGET}
+    PUBLIC ${GZ_TRANSPORT_TARGET}
     # Add other dependencies as needed
     # PUBLIC ${OtherLib_LIBS}
 )
diff --git a/src/modules/simulation/gz_plugins/generic_motor/CMakeLists.txt b/src/modules/simulation/gz_plugins/generic_motor/CMakeLists.txt
index 5753d45ca6..db3ac3f3cd 100644
--- a/src/modules/simulation/gz_plugins/generic_motor/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/generic_motor/CMakeLists.txt
@@ -48,10 +48,10 @@ add_library(${PROJECT_NAME} SHARED
 
 target_link_libraries(${PROJECT_NAME}
     PUBLIC px4_gz_msgs
-    PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
-    PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
-    PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
-    PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
+    PUBLIC ${GZ_SENSORS_TARGET}
+    PUBLIC ${GZ_PLUGIN_TARGET}
+    PUBLIC ${GZ_SIM_TARGET}
+    PUBLIC ${GZ_TRANSPORT_TARGET}
     # Add other dependencies as needed
     # PUBLIC ${OtherLib_LIBS}
 )
diff --git a/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt b/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
index 09e5b1d23d..bb453df805 100644
--- a/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
@@ -47,10 +47,10 @@ else()
 
     target_link_libraries(${PROJECT_NAME}
         PUBLIC px4_gz_msgs
-        PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
-        PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
-        PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
-        PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
+        PUBLIC ${GZ_SENSORS_TARGET}
+        PUBLIC ${GZ_PLUGIN_TARGET}
+        PUBLIC ${GZ_SIM_TARGET}
+        PUBLIC ${GZ_TRANSPORT_TARGET}
         PUBLIC ${GSTREAMER_LIBRARIES}
         PUBLIC ${GSTREAMER_APP_LIBRARIES}
     )
diff --git a/src/modules/simulation/gz_plugins/moving_platform_controller/CMakeLists.txt b/src/modules/simulation/gz_plugins/moving_platform_controller/CMakeLists.txt
index f0ddf3322f..88e2da59cb 100644
--- a/src/modules/simulation/gz_plugins/moving_platform_controller/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/moving_platform_controller/CMakeLists.txt
@@ -39,10 +39,10 @@ add_library(${PROJECT_NAME} SHARED
 
 target_link_libraries(${PROJECT_NAME}
     PUBLIC px4_gz_msgs
-    PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
-    PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
-    PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
-    PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
+    PUBLIC ${GZ_SENSORS_TARGET}
+    PUBLIC ${GZ_PLUGIN_TARGET}
+    PUBLIC ${GZ_SIM_TARGET}
+    PUBLIC ${GZ_TRANSPORT_TARGET}
 )
 
 target_include_directories(${PROJECT_NAME}
diff --git a/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt b/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
index 21c7afc3a3..a03ee39598 100644
--- a/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
@@ -46,10 +46,10 @@ add_library(${PROJECT_NAME} SHARED
 
 target_link_libraries(${PROJECT_NAME}
     PUBLIC px4_gz_msgs
-    PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
-    PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
-    PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
-    PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
+    PUBLIC ${GZ_SENSORS_TARGET}
+    PUBLIC ${GZ_PLUGIN_TARGET}
+    PUBLIC ${GZ_SIM_TARGET}
+    PUBLIC ${GZ_TRANSPORT_TARGET}
     PUBLIC ${OpenCV_LIBS}
     PUBLIC ${OpticalFlow_LIBS}
 )
diff --git a/src/modules/simulation/gz_plugins/spacecraft_thruster/CMakeLists.txt b/src/modules/simulation/gz_plugins/spacecraft_thruster/CMakeLists.txt
index 5f196526dd..1955c497dd 100644
--- a/src/modules/simulation/gz_plugins/spacecraft_thruster/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/spacecraft_thruster/CMakeLists.txt
@@ -48,10 +48,10 @@ add_library(${PROJECT_NAME} SHARED
 
 target_link_libraries(${PROJECT_NAME}
     PUBLIC px4_gz_msgs
-    PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
-    PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
-    PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
-    PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
+    PUBLIC ${GZ_SENSORS_TARGET}
+    PUBLIC ${GZ_PLUGIN_TARGET}
+    PUBLIC ${GZ_SIM_TARGET}
+    PUBLIC ${GZ_TRANSPORT_TARGET}
     # Add other dependencies as needed
     # PUBLIC ${OtherLib_LIBS}
 )
diff --git a/src/modules/simulation/gz_plugins/template_plugin/CMakeLists.txt b/src/modules/simulation/gz_plugins/template_plugin/CMakeLists.txt
index c7e582fd9f..a0caaf2b33 100644
--- a/src/modules/simulation/gz_plugins/template_plugin/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/template_plugin/CMakeLists.txt
@@ -48,10 +48,10 @@ add_library(${PROJECT_NAME} SHARED
 
 target_link_libraries(${PROJECT_NAME}
     PUBLIC px4_gz_msgs
-    PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
-    PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
-    PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
-    PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
+    PUBLIC ${GZ_SENSORS_TARGET}
+    PUBLIC ${GZ_PLUGIN_TARGET}
+    PUBLIC ${GZ_SIM_TARGET}
+    PUBLIC ${GZ_TRANSPORT_TARGET}
     # Add other dependencies as needed
     # PUBLIC ${OtherLib_LIBS}
 )