diff --git a/bazel_ros2_rules/ros2/resources/ros2bzl/scraping/metadata.py b/bazel_ros2_rules/ros2/resources/ros2bzl/scraping/metadata.py
index 35993f6e..d715595f 100644
--- a/bazel_ros2_rules/ros2/resources/ros2bzl/scraping/metadata.py
+++ b/bazel_ros2_rules/ros2/resources/ros2bzl/scraping/metadata.py
@@ -1,10 +1,27 @@
 import os
 import xml.etree.ElementTree as ET
 
+# Remove elemets that have a condition attribute on ROS1
+def remove_ros1_elements(root):
+    ros1_condition_value = "$ROS_VERSION == 1"
+    elements_to_remove = []
+
+    for parent in root.iter():
+        for child in list(parent):
+            if "condition" in child.attrib:
+                if child.get('condition') == ros1_condition_value :
+                    elements_to_remove.append((parent, child))
+                else :
+                    child.attrib.pop("condition")
+
+    for parent, child in elements_to_remove:
+        parent.remove(child)
 
 def parse_package_xml(path_to_package_xml):
     tree = ET.parse(path_to_package_xml)
 
+    remove_ros1_elements(tree.getroot())
+
     depends = set([
         tag.text for tag in tree.findall('./depend')
     ])
diff --git a/bazel_ros2_rules/ros2/resources/ros2bzl/templates.py b/bazel_ros2_rules/ros2/resources/ros2bzl/templates.py
index 115530e1..7948f95a 100644
--- a/bazel_ros2_rules/ros2/resources/ros2bzl/templates.py
+++ b/bazel_ros2_rules/ros2/resources/ros2bzl/templates.py
@@ -1,5 +1,6 @@
 import os
 import pathlib
+import glob
 
 from ros2bzl.resources import load_resource
 from ros2bzl.scraping.system import find_library_path
@@ -108,6 +109,13 @@ def configure_package_cc_library(
             sandbox(find_library_path(library))
             for library in metadata['plugin_libraries']
         )
+    # Add an exception for plotjuggler-ros, as it does not
+    # use pluginlib, and the manifest does not mention its plugins.
+    # The paths for the plugins are hardcoded in plotjuggler :
+    # https://github.com/facontidavide/PlotJuggler/blob/15dce41f598daed841bf2093aa10ebdf2aa1052f/plotjuggler_app/mainwindow.cpp#L560-L566
+    if 'plotjuggler_ros' in target_name:
+        prefix = "_opt_ros_humble/lib/plotjuggler_ros/"
+        data.extend(glob.glob(prefix + "lib*.so"))
     # Prepare runfiles to support dynamic loading
     data.extend(library for library in libraries if library not in data)
 
diff --git a/bazel_ros2_rules/ros2/resources/templates/ament_cmake_CMakeLists.txt.in b/bazel_ros2_rules/ros2/resources/templates/ament_cmake_CMakeLists.txt.in
index 984039c7..e25fb533 100644
--- a/bazel_ros2_rules/ros2/resources/templates/ament_cmake_CMakeLists.txt.in
+++ b/bazel_ros2_rules/ros2/resources/templates/ament_cmake_CMakeLists.txt.in
@@ -13,6 +13,10 @@ if("@PACKAGE@" STREQUAL "rviz_ogre_vendor")
   set(CMAKE_FIND_LIBRARY_PREFIXES ";lib")
 endif()
 
+if("@PACKAGE@" STREQUAL "plotjuggler")
+  find_package(Qt5 COMPONENTS Widgets Concurrent Svg REQUIRED)
+endif()
+
 find_package(@PACKAGE@ REQUIRED)
 
 file(WRITE empty.cc "")
diff --git a/ros2_example_bazel_installed/WORKSPACE b/ros2_example_bazel_installed/WORKSPACE
index eb32431b..7f201cb7 100644
--- a/ros2_example_bazel_installed/WORKSPACE
+++ b/ros2_example_bazel_installed/WORKSPACE
@@ -64,6 +64,8 @@ git_repository(
 
 # Please keep this list sorted
 ROS2_PACKAGES = [
+    "plotjuggler",
+    "plotjuggler_ros",
     "action_msgs",
     "builtin_interfaces",
     "console_bridge_vendor",
diff --git a/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel b/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel
index 92183db5..106d6918 100644
--- a/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel
+++ b/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel
@@ -272,3 +272,21 @@ ros_cc_test(
         "@ros2//resources/rmw_isolation:rmw_isolation_cc",
     ],
 )
+
+# This is a roll-up target to use plotjuggler with the required
+# ROS plugins. Usage :
+# bazel run //ros2_example_apps:plotjuggler
+ros_py_binary(
+    name = "plotjuggler",
+    srcs = ["plotjuggler.py"],
+    data = [
+        "@ros2//:plotjuggler_ros_cc",
+        "@ros2//:plotjuggler_ros_share",
+        "@ros2//:plotjuggler_ros_transitive_py",
+    ],
+    deps = [
+        "//:ros_msgs_all_py",
+        "@bazel_tools//tools/python/runfiles",
+        "@ros2//:plotjuggler_plotjuggler",
+    ],
+)
diff --git a/ros2_example_bazel_installed/ros2_example_apps/plotjuggler.py b/ros2_example_bazel_installed/ros2_example_apps/plotjuggler.py
new file mode 100644
index 00000000..134f1d11
--- /dev/null
+++ b/ros2_example_bazel_installed/ros2_example_apps/plotjuggler.py
@@ -0,0 +1,21 @@
+"""
+Roll up script for plotjuggler with ROS.
+"""
+
+
+import os
+import subprocess
+from bazel_tools.tools.python.runfiles import runfiles
+
+def main():
+    r = runfiles.Create()
+    binary_path = r.Rlocation("ros2/plotjuggler_plotjuggler")
+
+    if not binary_path:
+        raise FileNotFoundError("Could not find plotjuggler binary")
+
+    # Run the binary
+    subprocess.run(binary_path, check=True)
+
+if __name__ == "__main__":
+    main()
diff --git a/ros2_example_bazel_installed/setup/install_prereqs.sh b/ros2_example_bazel_installed/setup/install_prereqs.sh
index 2ab1b9d3..96c2ddc1 100755
--- a/ros2_example_bazel_installed/setup/install_prereqs.sh
+++ b/ros2_example_bazel_installed/setup/install_prereqs.sh
@@ -85,6 +85,7 @@ if [[ -z "${ROS2_DISTRO_PREFIX:-}" ]]; then
   apt install ros-humble-desktop
   apt install ros-humble-rmw-cyclonedds-cpp
   apt install ros-dev-tools
+  apt install ros-humble-plotjuggler-ros
 fi
 
 # Install Python dependencies
diff --git a/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt b/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt
index 895c17b0..5d747c42 100644
--- a/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt
+++ b/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt
@@ -1,4 +1,6 @@
 assimp
+binutils
+boost
 bullet
 cmake
 cppcheck
@@ -20,16 +22,23 @@ libpcl-all-dev
 libqt5-core
 libqt5-gui
 libqt5-opengl
+libqt5-opengl-dev
 libqt5-svg
+libqt5-svg-dev
+libqt5-websockets-dev
 libqt5-widgets
+libqt5x11extras5-dev
 libsqlite3-dev
 libx11-dev
 libxaw
 libxml2-utils
 libxrandr
+libzmq3-dev
 libzstd-dev
+lz4
 opengl
 pkg-config
+protobuf-dev
 pybind11-dev
 pydocstyle
 python3