diff --git a/qt_gui_cpp/CMakeLists.txt b/qt_gui_cpp/CMakeLists.txt
index 9617c35d..35159f79 100644
--- a/qt_gui_cpp/CMakeLists.txt
+++ b/qt_gui_cpp/CMakeLists.txt
@@ -9,6 +9,14 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 
+# set(CMAKE_SKIP_BUILD_RPATH FALSE)
+# set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+# set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_AUTOUIC ON)
+
 if(WIN32)
   message(STATUS "${PROJECT_NAME} is not yet supported on Windows. Package will not be built.")
   ament_package()
@@ -20,7 +28,8 @@ if(WIN32)
 endif()
 
 find_package(pluginlib REQUIRED)
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets Core)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets Core)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
 
@@ -44,7 +53,12 @@ set(qt_gui_cpp_HDRS
   include/qt_gui_cpp/plugin_context.hpp
 )
 
-qt5_wrap_cpp(qt_gui_cpp_MOCS ${qt_gui_cpp_HDRS})
+if (${QT_VERSION_MAJOR} GREATER "5")
+  qt_standard_project_setup()
+  qt_wrap_cpp(turtlesim_node_MOCS ${qt_gui_cpp_HDRS})
+else()
+  qt5_wrap_cpp(turtlesim_node_MOCS ${qt_gui_cpp_HDRS})
+endif()
 
 add_library(${PROJECT_NAME} SHARED ${qt_gui_cpp_SRCS} ${qt_gui_cpp_MOCS})
 target_include_directories(${PROJECT_NAME} PUBLIC
@@ -54,17 +68,17 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_link_libraries(${PROJECT_NAME}
   ${QT_QTCORE_LIBRARY}
   ${QT_QTGUI_LIBRARY}
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Widgets
   pluginlib::pluginlib
   tinyxml2::tinyxml2)
 
 add_subdirectory(src/qt_gui_cpp_shiboken)
 add_subdirectory(src/qt_gui_cpp_sip)
 
-message(STATUS "Python binding generators: ${qt_gui_cpp_BINDINGS}")
-if(NOT qt_gui_cpp_BINDINGS)
-  message(FATAL_ERROR "No Python binding generator found.")
-endif()
+# message(STATUS "Python binding generators: ${qt_gui_cpp_BINDINGS}")
+# if(NOT qt_gui_cpp_BINDINGS)
+#   message(FATAL_ERROR "No Python binding generator found.")
+# endif()
 
 install(FILES plugin.xml
   DESTINATION share/${PROJECT_NAME})
diff --git a/qt_gui_cpp/include/qt_gui_cpp/plugin_provider.hpp b/qt_gui_cpp/include/qt_gui_cpp/plugin_provider.hpp
index a703e7e1..a67d61a5 100644
--- a/qt_gui_cpp/include/qt_gui_cpp/plugin_provider.hpp
+++ b/qt_gui_cpp/include/qt_gui_cpp/plugin_provider.hpp
@@ -38,7 +38,7 @@
 #include "plugin_descriptor.hpp"
 
 #include <QList>
-#include <QMap>
+#include <QMultiMap>
 #include <QString>
 
 namespace qt_gui_cpp
@@ -51,7 +51,7 @@ class PluginProvider
 
   virtual ~PluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject * discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject * discovery_data);
 
   /**
    * @attention Ownership of returned PluginDescriptor's is transfered to the caller
diff --git a/qt_gui_cpp/include/qt_gui_cpp/recursive_plugin_provider.hpp b/qt_gui_cpp/include/qt_gui_cpp/recursive_plugin_provider.hpp
index 2fd3758f..c0960fdd 100644
--- a/qt_gui_cpp/include/qt_gui_cpp/recursive_plugin_provider.hpp
+++ b/qt_gui_cpp/include/qt_gui_cpp/recursive_plugin_provider.hpp
@@ -34,7 +34,7 @@
 #define QT_GUI_CPP__RECURSIVE_PLUGIN_PROVIDER_HPP_
 
 #include <QList>
-#include <QMap>
+#include <QMultiMap>
 #include <QString>
 
 #include "composite_plugin_provider.hpp"
@@ -51,7 +51,7 @@ class RecursivePluginProvider
 
   virtual ~RecursivePluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject * discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject * discovery_data);
 
   virtual void shutdown();
 
diff --git a/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.hpp b/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.hpp
index cd89e5d8..c99ea403 100644
--- a/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.hpp
+++ b/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.hpp
@@ -87,7 +87,7 @@ class RosPluginlibPluginProvider
     }
   }
 
-  virtual QMap<QString, QString> discover(QObject * discovery_data)
+  virtual QMultiMap<QString, QString> discover(QObject * discovery_data)
   {
     return PluginProvider::discover(discovery_data);
   }
diff --git a/qt_gui_cpp/src/qt_gui_cpp/plugin_provider.cpp b/qt_gui_cpp/src/qt_gui_cpp/plugin_provider.cpp
index 0bc61a95..64c175ff 100644
--- a/qt_gui_cpp/src/qt_gui_cpp/plugin_provider.cpp
+++ b/qt_gui_cpp/src/qt_gui_cpp/plugin_provider.cpp
@@ -41,7 +41,7 @@ PluginProvider::PluginProvider()
 PluginProvider::~PluginProvider()
 {}
 
-QMap<QString, QString> PluginProvider::discover(QObject * discovery_data)
+QMultiMap<QString, QString> PluginProvider::discover(QObject* discovery_data)
 {
   QMultiMap<QString, QString> plugins;
   QList<PluginDescriptor *> descriptors = discover_descriptors(discovery_data);
@@ -49,9 +49,12 @@ QMap<QString, QString> PluginProvider::discover(QObject * discovery_data)
     it++)
   {
     // extract plugin descriptor dictionary
-    PluginDescriptor * descriptor = *it;
-    QMap<QString, QString> plugin = descriptor->toDictionary();
-    plugins.unite(plugin);
+    PluginDescriptor* descriptor = *it;
+    QMap descriptorValue = descriptor->toDictionary();
+    QMultiMap<QString, QString> plugin;
+    for (auto i = descriptorValue.cbegin(), end = descriptorValue.cend(); i != end; ++i) {
+      plugin.insert(i.key(), i.value());
+    }
     delete descriptor;
   }
   return plugins;
diff --git a/qt_gui_cpp/src/qt_gui_cpp/recursive_plugin_provider.cpp b/qt_gui_cpp/src/qt_gui_cpp/recursive_plugin_provider.cpp
index 94c98f63..d38c1155 100644
--- a/qt_gui_cpp/src/qt_gui_cpp/recursive_plugin_provider.cpp
+++ b/qt_gui_cpp/src/qt_gui_cpp/recursive_plugin_provider.cpp
@@ -48,7 +48,7 @@ RecursivePluginProvider::~RecursivePluginProvider()
   delete plugin_provider_;
 }
 
-QMap<QString, QString> RecursivePluginProvider::discover(QObject * discovery_data)
+QMultiMap<QString, QString> RecursivePluginProvider::discover(QObject* discovery_data)
 {
   // discover plugins, which are providers themselves
   QList<PluginDescriptor *> descriptors = plugin_provider_->discover_descriptors(discovery_data);
diff --git a/qt_gui_cpp/src/qt_gui_cpp/settings.cpp b/qt_gui_cpp/src/qt_gui_cpp/settings.cpp
index 7a0473a4..fbe3b82a 100644
--- a/qt_gui_cpp/src/qt_gui_cpp/settings.cpp
+++ b/qt_gui_cpp/src/qt_gui_cpp/settings.cpp
@@ -44,82 +44,72 @@ Settings::Settings(QObject * obj)
 Settings Settings::getSettings(const QString & prefix)
 {
   Settings settings(proxy_.proxiedObject());
-  bool rc = proxy_.invokeMethodWithReturn("get_settings", Q_RETURN_ARG(Settings, settings),
-      Q_ARG(QString, prefix));
-  if (!rc) {
-    throw std::runtime_error("Settings::get_settings() invoke method failed");
-  }
+  bool rc = QMetaObject::invokeMethod(proxy_.proxiedObject(), "get_settings", Qt::DirectConnection, Q_RETURN_ARG(Settings, settings), Q_ARG(QString, prefix));
+  // bool rc = proxy_.invokeMethodWithReturn("get_settings", Q_RETURN_ARG(Settings, settings), Q_ARG(QString, prefix));
+  if (!rc) throw std::runtime_error("Settings::get_settings() invoke method failed");
   return settings;
 }
 
 QStringList Settings::allKeys() const
 {
   QStringList list;
-  bool rc = const_cast<Settings *>(this)->proxy_.invokeMethodWithReturn("all_keys",
-      Q_RETURN_ARG(QStringList, list));
-  if (!rc) {
-    throw std::runtime_error("Settings::all_keys() invoke method failed");
-  }
+  bool rc;
+
+  // bool rc = QMetaObject::invokeMethod(proxy_.proxiedObject(), "all_keys", Qt::DirectConnection, Q_RETURN_ARG(QStringList, list));
+  // bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("all_keys", Q_RETURN_ARG(QStringList, list));
+  if (!rc) throw std::runtime_error("Settings::all_keys() invoke method failed");
   return list;
 }
 
 QStringList Settings::childGroups() const
 {
   QStringList list;
-  bool rc = const_cast<Settings *>(this)->proxy_.invokeMethodWithReturn("child_groups",
-      Q_RETURN_ARG(QStringList, list));
-  if (!rc) {
-    throw std::runtime_error("Settings::child_groups() invoke method failed");
-  }
+  bool rc;
+  // bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("child_groups", Q_RETURN_ARG(QStringList, list));
+  if (!rc) throw std::runtime_error("Settings::child_groups() invoke method failed");
   return list;
 }
 
 QStringList Settings::childKeys() const
 {
   QStringList list;
-  bool rc = const_cast<Settings *>(this)->proxy_.invokeMethodWithReturn("child_keys",
-      Q_RETURN_ARG(QStringList, list));
-  if (!rc) {
-    throw std::runtime_error("Settings::child_keys() invoke method failed");
-  }
+  bool rc;
+  // bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("child_keys", Q_RETURN_ARG(QStringList, list));
+  if (!rc) throw std::runtime_error("Settings::child_keys() invoke method failed");
   return list;
 }
 
 bool Settings::contains(const QString & key) const
 {
   bool flag = false;
-  bool rc = const_cast<Settings *>(this)->proxy_.invokeMethodWithReturn("contains",
-      Q_RETURN_ARG(bool, flag), Q_ARG(QString, key));
-  if (!rc) {
-    throw std::runtime_error("Settings::contains() invoke method failed");
-  }
+  bool rc;
+  // bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("contains", Q_RETURN_ARG(bool, flag), Q_ARG(QString, key));
+  if (!rc) throw std::runtime_error("Settings::contains() invoke method failed");
   return flag;
 }
 
 void Settings::remove(const QString & key)
 {
-  bool rc = proxy_.invokeMethod("remove", Q_ARG(QString, key));
-  if (!rc) {
-    throw std::runtime_error("Settings::remove() invoke method failed");
-  }
+  bool rc;
+  // bool rc = proxy_.invokeMethod("remove", Q_ARG(QString, key));
+  if (!rc) throw std::runtime_error("Settings::remove() invoke method failed");
 }
 
 void Settings::setValue(const QString & key, const QVariant & value)
 {
-  bool rc = proxy_.invokeMethod("set_value", Q_ARG(QString, key), Q_ARG(QVariant, value));
-  if (!rc) {
-    throw std::runtime_error("Settings::set_value() invoke method failed");
-  }
+  bool rc;
+
+  // bool rc = proxy_.invokeMethod("set_value", Q_ARG(QString, key), Q_ARG(QVariant, value));
+  if (!rc) throw std::runtime_error("Settings::set_value() invoke method failed");
 }
 
 QVariant Settings::value(const QString & key, const QVariant & defaultValue) const
 {
   QVariant val;
-  bool rc = const_cast<Settings *>(this)->proxy_.invokeMethodWithReturn("value",
-      Q_RETURN_ARG(QVariant, val), Q_ARG(QString, key), Q_ARG(QVariant, defaultValue));
-  if (!rc) {
-    throw std::runtime_error("Settings::value() invoke method failed");
-  }
+  bool rc;
+  // bool rc = QMetaObject::invokeMethod(proxy_.proxiedObject(), "value", Qt::DirectConnection, Q_RETURN_ARG(QVariant, val), Q_ARG(QString, key), Q_ARG(QVariant, defaultValue));
+  // bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("value", Q_RETURN_ARG(QVariant, val), Q_ARG(QString, key), Q_ARG(QVariant, defaultValue));
+  if (!rc) throw std::runtime_error("Settings::value() invoke method failed");
   return val;
 }
 }  // namespace qt_gui_cpp
diff --git a/qt_gui_cpp/src/qt_gui_cpp_shiboken/CMakeLists.txt b/qt_gui_cpp/src/qt_gui_cpp_shiboken/CMakeLists.txt
index 4742615b..0096252d 100644
--- a/qt_gui_cpp/src/qt_gui_cpp_shiboken/CMakeLists.txt
+++ b/qt_gui_cpp/src/qt_gui_cpp_shiboken/CMakeLists.txt
@@ -1,4 +1,6 @@
-find_package(Qt5Widgets REQUIRED)
+find_package(QTWidgets NAMES Qt5Widgets Qt6Widgets)
+find_package(Qt${QTWidgets_VERSION_MAJOR}Widgets REQUIRED)
+
 set(qt_gui_cpp_shiboken_QT_COMPONENTS
   QtCore
   QtGui
@@ -52,26 +54,23 @@ if(shiboken_helper_FOUND)
     list(APPEND qt_gui_cpp_BINDINGS "shiboken")
     set(qt_gui_cpp_BINDINGS "${qt_gui_cpp_BINDINGS}" PARENT_SCOPE)
 
-    set(QT_INCLUDE_DIR "${Qt5Widgets_INCLUDE_DIRS}")
-    shiboken_generator(
-      libqt_gui_cpp
-      global.h
-      typesystem.xml
-      ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_shiboken
-      "${qt_gui_cpp_shiboken_SRCS}"
-      "${qt_gui_cpp_HDRS}"
-      "${qt_gui_cpp_INCLUDE_PATH}"
-      "${CMAKE_CURRENT_BINARY_DIR}")
+    set(QT_INCLUDE_DIR "${Qt${QT_VERSION_MAJOR}Widgets_INCLUDE_DIRS}")
+    if(${QTWidgets_VERSION_MAJOR} GREATER "5")
+      shiboken_generator6(libqt_gui_cpp global.h typesystem.xml ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_SRCS}" "${qt_gui_cpp_HDRS}" "${qt_gui_cpp_INCLUDE_PATH}" "${CMAKE_CURRENT_BINARY_DIR}")
+    else()
+      shiboken_generator(libqt_gui_cpp global.h typesystem.xml ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_SRCS}" "${qt_gui_cpp_HDRS}" "${qt_gui_cpp_INCLUDE_PATH}" "${CMAKE_CURRENT_BINARY_DIR}")
+    endif()
 
     shiboken_include_directories(qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_QT_COMPONENTS}")
 
     add_library(qt_gui_cpp_shiboken SHARED ${qt_gui_cpp_shiboken_SRCS})
+    set_property(TARGET qt_gui_cpp_shiboken PROPERTY PREFIX "")
+    target_compile_definitions(qt_gui_cpp_shiboken PRIVATE BINDINGS_BUILD)
     target_include_directories(qt_gui_cpp_shiboken PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../../include)
-    target_link_libraries(qt_gui_cpp_shiboken ${PROJECT_NAME})
-    ament_target_dependencies(qt_gui_cpp_shiboken pluginlib TinyXML2)
+    target_link_libraries(qt_gui_cpp_shiboken ${PROJECT_NAME} pluginlib::pluginlib tinyxml2::tinyxml2)
     shiboken_target_link_libraries(qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_QT_COMPONENTS}")
 
     install(TARGETS qt_gui_cpp_shiboken
       DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME})
-  endif()
+    endif()
 endif()
diff --git a/qt_gui_cpp/src/qt_gui_cpp_sip/plugin_provider.sip b/qt_gui_cpp/src/qt_gui_cpp_sip/plugin_provider.sip
index 55918c8e..368ba909 100644
--- a/qt_gui_cpp/src/qt_gui_cpp_sip/plugin_provider.sip
+++ b/qt_gui_cpp/src/qt_gui_cpp_sip/plugin_provider.sip
@@ -13,7 +13,7 @@ public:
 
   virtual ~PluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   /**
    * @attention Ownership of returned PluginDescriptor's is transfered to the caller
diff --git a/qt_gui_cpp/src/qt_gui_cpp_sip/recursive_plugin_provider.sip b/qt_gui_cpp/src/qt_gui_cpp_sip/recursive_plugin_provider.sip
index d0131740..22001d60 100644
--- a/qt_gui_cpp/src/qt_gui_cpp_sip/recursive_plugin_provider.sip
+++ b/qt_gui_cpp/src/qt_gui_cpp_sip/recursive_plugin_provider.sip
@@ -14,7 +14,7 @@ public:
 
   virtual ~RecursivePluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   virtual void shutdown();
 };
diff --git a/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugin_providers.sip b/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugin_providers.sip
index f5a71e7d..c5faacfe 100644
--- a/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugin_providers.sip
+++ b/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugin_providers.sip
@@ -17,7 +17,7 @@ public:
 
   virtual ~RosPluginlibPluginProvider_ForPluginProviders();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   virtual QList<qt_gui_cpp::PluginDescriptor*> discover_descriptors(QObject* discovery_data);
 
diff --git a/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugins.sip b/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugins.sip
index 4ec47007..c031aa41 100644
--- a/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugins.sip
+++ b/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugins.sip
@@ -17,7 +17,7 @@ public:
 
   virtual ~RosPluginlibPluginProvider_ForPlugins();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   virtual QList<qt_gui_cpp::PluginDescriptor*> discover_descriptors(QObject* discovery_data);