diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp
index eea311fbec..b858a3d23a 100644
--- a/moveit_core/utils/src/robot_model_test_utils.cpp
+++ b/moveit_core/utils/src/robot_model_test_utils.cpp
@@ -34,6 +34,8 @@
 
 /* Author: Bryce Willey */
 
+#include <rclcpp/version.h>
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <boost/algorithm/string_regex.hpp>
 #include <filesystem>
@@ -64,10 +66,20 @@ moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& package_nam
                                                   const std::string& urdf_relative_path,
                                                   const std::string& srdf_relative_path)
 {
+// For Rolling, L-turtle, and newer
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+  std::filesystem::path urdf_path;
+  ament_index_cpp::get_package_share_directory(package_name, urdf_path);
+  urdf_path /= urdf_relative_path;
+  std::filesystem::path srdf_path;
+  ament_index_cpp::get_package_share_directory(package_name, srdf_path);
+  srdf_path /= srdf_relative_path;
+#else
   const auto urdf_path =
       std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name)) / urdf_relative_path;
   const auto srdf_path =
       std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name)) / srdf_relative_path;
+#endif
 
   urdf::ModelInterfaceSharedPtr urdf_model = urdf::parseURDFFile(urdf_path.string());
   if (urdf_model == nullptr)
@@ -95,7 +107,13 @@ moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& robot_name)
 urdf::ModelInterfaceSharedPtr loadModelInterface(const std::string& robot_name)
 {
   const std::string package_name = "moveit_resources_" + robot_name + "_description";
+// For Rolling, L-turtle, and newer
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+  std::filesystem::path res_path;
+  ament_index_cpp::get_package_share_directory(package_name, res_path);
+#else
   std::filesystem::path res_path(ament_index_cpp::get_package_share_directory(package_name));
+#endif
   std::string urdf_path;
   if (robot_name == "pr2")
   {
@@ -123,13 +141,25 @@ srdf::ModelSharedPtr loadSRDFModel(const std::string& robot_name)
   if (robot_name == "pr2")
   {
     const std::string package_name = "moveit_resources_" + robot_name + "_description";
+// For Rolling, L-turtle, and newer
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+    std::filesystem::path res_path;
+    ament_index_cpp::get_package_share_directory(package_name, res_path);
+#else
     std::filesystem::path res_path(ament_index_cpp::get_package_share_directory(package_name));
+#endif
     srdf_path = (res_path / "srdf/robot.xml").string();
   }
   else
   {
     const std::string package_name = "moveit_resources_" + robot_name + "_moveit_config";
+// For Rolling, L-turtle, and newer
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+    std::filesystem::path res_path;
+    ament_index_cpp::get_package_share_directory(package_name, res_path);
+#else
     std::filesystem::path res_path(ament_index_cpp::get_package_share_directory(package_name));
+#endif
     srdf_path = (res_path / "config" / (robot_name + ".srdf")).string();
   }
   srdf_model->initFile(*urdf_model, srdf_path);
diff --git a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
index de43e05744..db0957e96f 100644
--- a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
+++ b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
@@ -34,6 +34,8 @@
 
 /* Author: Ioan Sucan, Mathias Lüdtke, Dave Coleman */
 
+#include <rclcpp/version.h>
+
 // MoveIt
 #include <moveit/rdf_loader/rdf_loader.hpp>
 #include <std_msgs/msg/string.hpp>
@@ -217,10 +219,15 @@ bool RDFLoader::loadXmlFileToString(std::string& buffer, const std::string& path
 bool RDFLoader::loadPkgFileToString(std::string& buffer, const std::string& package_name,
                                     const std::string& relative_path, const std::vector<std::string>& xacro_args)
 {
-  std::string package_path;
+  std::filesystem::path path;
   try
   {
-    package_path = ament_index_cpp::get_package_share_directory(package_name);
+// For Rolling, L-turtle, and newer
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+    ament_index_cpp::get_package_share_directory(package_name, path);
+#else
+    path = ament_index_cpp::get_package_share_directory(package_name);
+#endif
   }
   catch (const ament_index_cpp::PackageNotFoundError& e)
   {
@@ -228,7 +235,6 @@ bool RDFLoader::loadPkgFileToString(std::string& buffer, const std::string& pack
     return false;
   }
 
-  std::filesystem::path path(package_path);
   path = path / relative_path;
 
   return loadXmlFileToString(buffer, path.string(), xacro_args);
diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp
index ace3237c6b..6cc6967965 100644
--- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp
+++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp
@@ -36,6 +36,8 @@
 
 #pragma once
 
+#include <rclcpp/version.h>
+
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <filesystem>
@@ -52,7 +54,14 @@ inline std::filesystem::path getSharePath(const std::string& package_name)
 {
   try
   {
+// For Rolling, L-turtle, and newer
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+    std::filesystem::path path;
+    ament_index_cpp::get_package_share_directory(package_name, path);
+    return path;
+#else
     return std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name));
+#endif
   }
   catch (const std::runtime_error& e)
   {