diff --git a/README.md b/README.md
index 5beb24f8..264d0f7e 100644
--- a/README.md
+++ b/README.md
@@ -300,7 +300,7 @@ Here is an example custom validator.
 #include <rclcpp/rclcpp.hpp>
 
 #include <fmt/core.h>
-#include <tl/expected.hpp>
+#include <rcpputils/tl_expected/expected.hpp>
 
 namespace my_project {
 
diff --git a/example/include/generate_parameter_library_example/example_validators.hpp b/example/include/generate_parameter_library_example/example_validators.hpp
index 43059744..62bbda57 100644
--- a/example/include/generate_parameter_library_example/example_validators.hpp
+++ b/example/include/generate_parameter_library_example/example_validators.hpp
@@ -33,7 +33,7 @@
 #include <string>
 
 #include <rclcpp/rclcpp.hpp>
-#include <tl/expected.hpp>
+#include <rcpputils/tl_expected/expected.hpp>
 
 namespace custom_validators {
 
diff --git a/generate_parameter_library/cmake/generate_parameter_library.cmake b/generate_parameter_library/cmake/generate_parameter_library.cmake
index b71ce044..85f8fb71 100644
--- a/generate_parameter_library/cmake/generate_parameter_library.cmake
+++ b/generate_parameter_library/cmake/generate_parameter_library.cmake
@@ -80,12 +80,11 @@ macro(generate_parameter_library LIB_NAME YAML_FILE)
     rclcpp_lifecycle::rclcpp_lifecycle
     rsl::rsl
     tcb_span::tcb_span
-    tl::expected
+    rcpputils::rcpputils
   )
   install(DIRECTORY ${LIB_INCLUDE_DIR} DESTINATION include)
   ament_export_dependencies(
     fmt rclcpp rclcpp_lifecycle rsl tcb_span
-    tl-expected
   )
 endmacro()
 
diff --git a/generate_parameter_library/generate_parameter_library-extras.cmake b/generate_parameter_library/generate_parameter_library-extras.cmake
index ff93cb9a..09a17966 100644
--- a/generate_parameter_library/generate_parameter_library-extras.cmake
+++ b/generate_parameter_library/generate_parameter_library-extras.cmake
@@ -31,6 +31,5 @@ find_package(rclcpp REQUIRED)
 find_package(rsl REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(tcb_span REQUIRED)
-find_package(tl-expected REQUIRED)
 
 include("${generate_parameter_library_DIR}/generate_parameter_library.cmake")