diff --git a/linux_docker_resources/Dockerfile b/linux_docker_resources/Dockerfile
index 8349cfdc..c7cbc882 100644
--- a/linux_docker_resources/Dockerfile
+++ b/linux_docker_resources/Dockerfile
@@ -211,10 +211,10 @@ RUN apt-get update && apt-get install --no-install-recommends -y libopencv-dev
 RUN apt-get update && apt-get install --no-install-recommends -y libconsole-bridge-dev
 
 # Install build dependencies for rviz et al.
-RUN apt-get update && apt-get install --no-install-recommends -y libassimp-dev libcurl4-openssl-dev libfreetype6-dev libgles2-mesa-dev libglu1-mesa-dev libxaw7-dev libxrandr-dev qtbase5-dev
+RUN apt-get update && apt-get install --no-install-recommends -y libassimp-dev libcurl4-openssl-dev libfreetype6-dev libgles2-mesa-dev libglu1-mesa-dev libxaw7-dev libxrandr-dev qtbase5-dev qt6-base-dev
 
 # Install build dependencies for rqt et al.
-RUN apt-get update && apt-get install --no-install-recommends -y pyqt5-dev python3-pyqt5 python3-pyqt5.qtsvg python3-sip-dev python3-pydot python3-pygraphviz
+RUN apt-get update && apt-get install --no-install-recommends -y pyqt5-dev pyqt6-dev python3-pyqt5 python3-pyqt6 python3-pyqt5.qtsvg python3-pyqt6.qtsvg python3-sip-dev python3-pydot python3-pygraphviz
 
 # Install dependencies for robot_model and robot_state_publisher
 RUN apt-get update && apt-get install --no-install-recommends -y libeigen3-dev
diff --git a/linux_docker_resources/Dockerfile-RHEL b/linux_docker_resources/Dockerfile-RHEL
index cf2dba2e..5ca27e59 100644
--- a/linux_docker_resources/Dockerfile-RHEL
+++ b/linux_docker_resources/Dockerfile-RHEL
@@ -165,6 +165,7 @@ RUN dnf install \
     python3-pytest-runner \
     python3-pytest-timeout \
     python3-qt5-devel \
+    $(if test ${EL_RELEASE/.*/} > 9; then echo python3-qt6-devel; fi) \
     python3-rosdistro \
     python3-setuptools \
     $(if test ${EL_RELEASE/.*/} != 10; then echo python3-sip-devel; fi) \
@@ -172,6 +173,9 @@ RUN dnf install \
     qt5-qtbase \
     qt5-qtbase-devel \
     qt5-qtbase-gui \
+    qt6-qtbase \
+    qt6-qtbase-devel \
+    qt6-qtbase-gui \
     redhat-rpm-config \
     spdlog-devel \
     sqlite-devel \