diff --git a/cmake/modules/FindTinyXML2.cmake b/cmake/modules/FindTinyXML2.cmake
index 24aa98a..4e2188e 100644
--- a/cmake/modules/FindTinyXML2.cmake
+++ b/cmake/modules/FindTinyXML2.cmake
@@ -7,10 +7,10 @@ option(TINYXML2_FROM_SOURCE "Integrate TinyXML2 source code inside Fast RTPS" OF
 find_package(TinyXML2 CONFIG QUIET)
 if(TinyXML2_FOUND)
     message(STATUS "Found TinyXML2: ${TinyXML2_DIR}")
-    if(NOT TINYXML2_LIBRARY AND TARGET tinyxml2)
+    if(NOT TINYXML2_LIBRARY AND TARGET tinyxml2::tinyxml2)
         # in this case, we're probably using TinyXML2 version 5.0.0 or greater
         # in which case tinyxml2 is an exported target and we should use that
-        set(TINYXML2_LIBRARY tinyxml2)
+        set(TINYXML2_LIBRARY tinyxml2::tinyxml2)
     endif()
 else()
     if(THIRDPARTY)
