diff --git a/distros/foxy/aruco-opencv/default.nix b/distros/foxy/aruco-opencv/default.nix
index cdccd7bfd3..7cef2b0290 100644
--- a/distros/foxy/aruco-opencv/default.nix
+++ b/distros/foxy/aruco-opencv/default.nix
@@ -16,7 +16,7 @@ buildRosPackage {
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-cmake-copyright ament-cmake-lint-cmake ament-cmake-uncrustify ament-cmake-xmllint ament-lint-auto ];
-  propagatedBuildInputs = [ aruco-opencv-msgs cv-bridge image-transport libyamlcpp python39Packages.img2pdf python3Packages.numpy python3Packages.opencv3 rclcpp rclcpp-components rclcpp-lifecycle tf2-geometry-msgs tf2-ros ];
+  propagatedBuildInputs = [ aruco-opencv-msgs cv-bridge image-transport libyamlcpp python39Packages.img2pdf python3Packages.numpy python3Packages.opencv4 rclcpp rclcpp-components rclcpp-lifecycle tf2-geometry-msgs tf2-ros ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/foxy/cv-bridge/default.nix b/distros/foxy/cv-bridge/default.nix
index 3c3016f24b..626d3566cb 100644
--- a/distros/foxy/cv-bridge/default.nix
+++ b/distros/foxy/cv-bridge/default.nix
@@ -16,7 +16,7 @@ buildRosPackage {
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake-ros python-cmake-module ];
   checkInputs = [ ament-cmake-gtest ament-cmake-pytest ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ ament-index-python boost opencv python3Packages.numpy python3Packages.opencv3 rcpputils sensor-msgs ];
+  propagatedBuildInputs = [ ament-index-python boost opencv python3Packages.numpy python3Packages.opencv4 rcpputils sensor-msgs ];
   nativeBuildInputs = [ ament-cmake-ros python-cmake-module ];
 
   meta = {
diff --git a/distros/foxy/stereo-image-proc/default.nix b/distros/foxy/stereo-image-proc/default.nix
index b57f0e7948..46b34613d5 100644
--- a/distros/foxy/stereo-image-proc/default.nix
+++ b/distros/foxy/stereo-image-proc/default.nix
@@ -15,7 +15,7 @@ buildRosPackage {
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake-auto ];
-  checkInputs = [ ament-cmake-pytest ament-lint-auto ament-lint-common launch launch-ros launch-testing launch-testing-ament-cmake python-cmake-module python3Packages.opencv3 rclpy ros-testing ];
+  checkInputs = [ ament-cmake-pytest ament-lint-auto ament-lint-common launch launch-ros launch-testing launch-testing-ament-cmake python-cmake-module python3Packages.opencv4 rclpy ros-testing ];
   propagatedBuildInputs = [ cv-bridge image-geometry image-proc image-transport message-filters rclcpp rclcpp-components sensor-msgs stereo-msgs ];
   nativeBuildInputs = [ ament-cmake-auto ];
 
diff --git a/distros/foxy/webots-ros2-tesla/default.nix b/distros/foxy/webots-ros2-tesla/default.nix
index 268b45f3ef..a2e30038fa 100644
--- a/distros/foxy/webots-ros2-tesla/default.nix
+++ b/distros/foxy/webots-ros2-tesla/default.nix
@@ -15,7 +15,7 @@ buildRosPackage {
 
   buildType = "ament_python";
   checkInputs = [ ament-copyright pythonPackages.pytest ];
-  propagatedBuildInputs = [ ackermann-msgs builtin-interfaces python3Packages.numpy python3Packages.opencv3 rclpy webots-ros2-driver ];
+  propagatedBuildInputs = [ ackermann-msgs builtin-interfaces python3Packages.numpy python3Packages.opencv4 rclpy webots-ros2-driver ];
 
   meta = {
     description = ''Tesla ROS2 interface for Webots.'';