diff --git a/external/zmqpp_vendor/CMakeLists.txt b/external/zmqpp_vendor/CMakeLists.txt
index 2a8c35ae4bd..96ee0dcf21a 100644
--- a/external/zmqpp_vendor/CMakeLists.txt
+++ b/external/zmqpp_vendor/CMakeLists.txt
@@ -5,38 +5,16 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_vendor_package REQUIRED)
 
-macro(build_zmqpp)
-  set(cmake_commands)
-  set(cmake_configure_args
-    -Wno-dev
-    -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install)
+ament_vendor(zmqpp_vendor
+  SATISFIED ${zmqpp_FOUND}
+  VCS_URL https://github.com/zeromq/zmqpp.git
+  VCS_VERSION da73a138f290274cfd604b3f05a908956390a66e
+  PATCHES patches/zmqpp_export.patch
+)
 
-  include(ExternalProject)
-  externalproject_add(cpp-zmqpp-ext
-    GIT_REPOSITORY https://github.com/zeromq/zmqpp.git
-    GIT_TAG master
-    TIMEOUT 6000
-    ${cmake_commands}
-    CMAKE_ARGS ${cmake_configure_args}
-  )
-  install(
-    DIRECTORY
-      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install/
-    DESTINATION
-      ${CMAKE_INSTALL_PREFIX}
-  )
-endmacro()
+ament_export_dependencies(zmqpp)
 
-build_zmqpp()
-ament_export_include_directories(include)
-ament_export_libraries(zmqpp)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_auto_package()
+ament_package(CONFIG_EXTRAS zmqpp_vendor-extras.cmake)
diff --git a/external/zmqpp_vendor/package.xml b/external/zmqpp_vendor/package.xml
index d216c8f6bf0..a5121b36816 100644
--- a/external/zmqpp_vendor/package.xml
+++ b/external/zmqpp_vendor/package.xml
@@ -8,7 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
   <buildtool_depend>git</buildtool_depend>
 
   <depend>libzmq3-dev</depend>
diff --git a/external/zmqpp_vendor/patches/zmqpp_export.patch b/external/zmqpp_vendor/patches/zmqpp_export.patch
new file mode 100644
index 00000000000..c3a24cc16a6
--- /dev/null
+++ b/external/zmqpp_vendor/patches/zmqpp_export.patch
@@ -0,0 +1,25 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 489916a..19ab1ac 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -230,9 +230,11 @@ endif()
+ # Install
+ # -------
+ install(TARGETS ${INSTALL_TARGET_LIST}
++        EXPORT zmqpp-targets
+         RUNTIME DESTINATION bin
+         LIBRARY DESTINATION lib
+-        ARCHIVE DESTINATION lib)
++        ARCHIVE DESTINATION lib
++        INCLUDES DESTINATION include)
+ 
+ install(DIRECTORY src/zmqpp DESTINATION include/
+         FILES_MATCHING PATTERN "*.hpp")
+@@ -240,3 +242,7 @@ install(DIRECTORY src/zmqpp DESTINATION include/
+ install(FILES
+         "${CMAKE_CURRENT_BINARY_DIR}/zmqpp_export.h"
+         DESTINATION "include")
++
++install(EXPORT zmqpp-targets
++        FILE zmqpp-config.cmake
++        DESTINATION lib/cmake/zmqpp)
diff --git a/external/zmqpp_vendor/zmqpp_vendor-extras.cmake b/external/zmqpp_vendor/zmqpp_vendor-extras.cmake
new file mode 100644
index 00000000000..2c021690385
--- /dev/null
+++ b/external/zmqpp_vendor/zmqpp_vendor-extras.cmake
@@ -0,0 +1 @@
+list(APPEND zmqpp_vendor_TARGETS zmqpp)