diff --git a/gz-waves/CMakeLists.txt b/gz-waves/CMakeLists.txt
index 64e812de..5755769b 100644
--- a/gz-waves/CMakeLists.txt
+++ b/gz-waves/CMakeLists.txt
@@ -244,8 +244,12 @@ if(NOT CGAL_FOUND)
   return()  
 endif()
 
-# include helper file
-include(${CGAL_USE_FILE})
+message("CGAL_VERSION_MAJOR: ${CGAL_VERSION_MAJOR}")
+
+if (${CGAL_VERSION_MAJOR} LESS 6)
+  # include helper file
+  include(${CGAL_USE_FILE})
+endif()
 
 #--------------------------------------
 # Find FFTW3 (double-precision) (GPL) as FFT library.
diff --git a/gz-waves/include/gz/waves/CGALTypes.hh b/gz-waves/include/gz/waves/CGALTypes.hh
index 2f747994..82f97c72 100644
--- a/gz-waves/include/gz/waves/CGALTypes.hh
+++ b/gz-waves/include/gz/waves/CGALTypes.hh
@@ -20,7 +20,14 @@
 #define GZ_WAVES_CGALTYPES_HH_
 
 #include <CGAL/AABB_face_graph_triangle_primitive.h>
+#ifndef CGAL_VERSION_MAJOR
+#error
+#endif
+#if CGAL_VERSION_MAJOR >= 6
+#include <CGAL/AABB_traits_3.h>
+#else
 #include <CGAL/AABB_traits.h>
+#endif
 #include <CGAL/AABB_tree.h>
 #include <CGAL/Simple_cartesian.h>
 #include <CGAL/Surface_mesh.h>
@@ -53,7 +60,11 @@ typedef Mesh::Vertex_index              VertexIndex;
 
 // AABB Tree
 typedef CGAL::AABB_face_graph_triangle_primitive<Mesh> Primitive;
+#if CGAL_VERSION_MAJOR >= 6
+typedef CGAL::AABB_traits_3<Kernel, Primitive> Traits;
+#else
 typedef CGAL::AABB_traits<Kernel, Primitive> Traits;
+#endif
 typedef CGAL::AABB_tree<Traits> AABBTree;
 
 // Pointers
diff --git a/gz-waves/src/CGAL_TEST.cc b/gz-waves/src/CGAL_TEST.cc
index 6f5df69a..f2c312d0 100644
--- a/gz-waves/src/CGAL_TEST.cc
+++ b/gz-waves/src/CGAL_TEST.cc
@@ -16,7 +16,11 @@
 #include <gtest/gtest.h>
 
 #include <CGAL/AABB_face_graph_triangle_primitive.h>
+#if CGAL_VERSION_MAJOR >= 6
+#include <CGAL/AABB_traits_3.h>
+#else
 #include <CGAL/AABB_traits.h>
+#endif
 #include <CGAL/AABB_tree.h>
 #include <CGAL/Constrained_Delaunay_triangulation_2.h>
 #include <CGAL/Constrained_triangulation_2.h>
@@ -137,12 +141,23 @@ TEST(CGAL, SurfaceMesh) {
   typedef K::Segment_3 Segment;
   typedef CGAL::Surface_mesh<Point3> Mesh;
   typedef CGAL::AABB_face_graph_triangle_primitive<Mesh> Primitive;
+#if CGAL_VERSION_MAJOR >= 6
+  typedef CGAL::AABB_traits_3<K, Primitive> Traits;
+#else
   typedef CGAL::AABB_traits<K, Primitive> Traits;
+#endif
   typedef CGAL::AABB_tree<Traits> Tree;
+#if CGAL_VERSION_MAJOR >= 6
+  typedef std::optional<Tree::Intersection_and_primitive_id<Segment>::Type>
+  Segment_intersection;
+  typedef std::optional<Tree::Intersection_and_primitive_id<Plane>::Type>
+  Plane_intersection;
+#else
   typedef boost::optional<Tree::Intersection_and_primitive_id<Segment>::Type>
   Segment_intersection;
   typedef boost::optional<Tree::Intersection_and_primitive_id<Plane>::Type>
   Plane_intersection;
+#endif
   typedef Tree::Primitive_id Primitive_id;
 
   Point3 p(1.0, 0.0, 0.0);
@@ -177,8 +192,13 @@ TEST(CGAL, SurfaceMesh) {
       tree.any_intersection(segment_query);
   if (intersection) {
     // gets intersection object
+#if CGAL_VERSION_MAJOR >= 6
+    if (std::get_if<Point3>(&(intersection->first))) {
+      // Point3* p = std::get_if<Point3>(&(intersection->first));
+#else
     if (boost::get<Point3>(&(intersection->first))) {
       // Point3* p = boost::get<Point3>(&(intersection->first));
+#endif
       // std::cout << "intersection object is a point " << *p <<  "\n";
       // std::cout << "with face "<< intersection->second  <<  "\n";
     }
@@ -203,8 +223,13 @@ TEST(CGAL, SurfaceMesh) {
   // (generally a segment)
   Plane_intersection plane_intersection = tree.any_intersection(plane_query);
   if (plane_intersection) {
+#if CGAL_VERSION_MAJOR >= 6
+    if (std::get_if<Segment>(&(plane_intersection->first))) {
+      // Segment* s = std::get_if<Segment>(&(plane_intersection->first));
+#else
     if (boost::get<Segment>(&(plane_intersection->first))) {
       // Segment* s = boost::get<Segment>(&(plane_intersection->first));
+#endif
       // std::cout << "one intersection object is the segment " << s << "\n";
       // std::cout << "with face "<< intersection->second  <<  "\n";
     }
@@ -223,7 +248,11 @@ TEST(CGAL, AABBPolyhedronFacetIntersection) {
   // typedef K::Segment_3 Segment;
   typedef CGAL::Polyhedron_3<K> Polyhedron;
   typedef CGAL::AABB_face_graph_triangle_primitive<Polyhedron> Primitive;
+#if CGAL_VERSION_MAJOR >= 6
+  typedef CGAL::AABB_traits_3<K, Primitive> Traits;
+#else
   typedef CGAL::AABB_traits<K, Primitive> Traits;
+#endif
   typedef CGAL::AABB_tree<Traits> Tree;
   // typedef Tree::Point_and_primitive_id Point_and_primitive_id;
 
@@ -276,7 +305,11 @@ TEST(CGAL, SurfaceMeshGridCell) {
   // typedef Mesh::Face_index face_descriptor;
 
   typedef CGAL::AABB_face_graph_triangle_primitive<Mesh> Primitive;
+#if CGAL_VERSION_MAJOR >= 6
+  typedef CGAL::AABB_traits_3<K, Primitive> Traits;
+#else
   typedef CGAL::AABB_traits<K, Primitive> Traits;
+#endif
   typedef CGAL::AABB_tree<Traits> Tree;
   // typedef boost::optional<Tree::Intersection_and_primitive_id<Segment>::Type>
   // Segment_intersection;
@@ -284,9 +317,13 @@ TEST(CGAL, SurfaceMeshGridCell) {
   // Plane_intersection;
   // typedef Tree::Primitive_id Primitive_id;
 
+#if CGAL_VERSION_MAJOR >= 6
+  typedef std::optional<Tree::Intersection_and_primitive_id<Ray>::Type>
+  Ray_intersection;
+#else
   typedef boost::optional<Tree::Intersection_and_primitive_id<Ray>::Type>
   Ray_intersection;
-
+#endif
   typedef CGAL::Timer Timer;
 
   Point3 p0(-1.0, -1.0, 1.0);
@@ -344,8 +381,13 @@ TEST(CGAL, SurfaceMeshGridCell) {
     // std::cout << "Intersect (x1000): " << t.time() << " sec" << "\n";
 
     // if(intersection) {
+#if CGAL_VERSION_MAJOR >= 6
+    //   if(std::get_if<Point3>(&(intersection->first))) {
+    //     const Point3* p = std::get_if<Point3>(&(intersection->first));
+#else
     //   if(boost::get<Point3>(&(intersection->first))) {
-    //     const Point3* p =  boost::get<Point3>(&(intersection->first));
+    //     const Point3* p = boost::get<Point3>(&(intersection->first));
+#endif
     //     std::cout <<  *p << "\n";
     //   }
     // }
@@ -366,7 +408,11 @@ TEST(CGAL, SurfaceMeshGrid) {
   // typedef Mesh::Face_index face_descriptor;
 
   typedef CGAL::AABB_face_graph_triangle_primitive<Mesh> Primitive;
+#if CGAL_VERSION_MAJOR >= 6
+  typedef CGAL::AABB_traits_3<K, Primitive> Traits;
+#else
   typedef CGAL::AABB_traits<K, Primitive> Traits;
+#endif
   typedef CGAL::AABB_tree<Traits> Tree;
   // typedef boost::optional<Tree::Intersection_and_primitive_id<Segment>::Type>
   // Segment_intersection;
@@ -374,9 +420,13 @@ TEST(CGAL, SurfaceMeshGrid) {
   // Plane_intersection;
   // typedef Tree::Primitive_id Primitive_id;
 
+#if CGAL_VERSION_MAJOR >= 6
+  typedef std::optional<Tree::Intersection_and_primitive_id<Ray>::Type>
+  Ray_intersection;
+#else
   typedef boost::optional<Tree::Intersection_and_primitive_id<Ray>::Type>
   Ray_intersection;
-
+#endif
   typedef CGAL::Timer Timer;
 
   // Create Grid
@@ -432,8 +482,13 @@ TEST(CGAL, SurfaceMeshGrid) {
     //    << "): " << t.time() << " sec" << "\n";
 
     // if(intersection) {
+#if CGAL_VERSION_MAJOR >= 6
+    //   if(std::get_if<Point3>(&(intersection->first))) {
+    //     const Point3* p = std::get_if<Point3>(&(intersection->first));
+#else
     //   if(boost::get<Point3>(&(intersection->first))) {
-    //     const Point3* p =  boost::get<Point3>(&(intersection->first));
+    //     const Point3* p = boost::get<Point3>(&(intersection->first));
+#endif
     //     std::cout <<  *p << "\n";
     //   }
     // }
@@ -454,7 +509,11 @@ TEST(CGAL, SurfaceMeshModifyGrid) {
   // typedef Mesh::Face_index face_descriptor;
 
   // typedef CGAL::AABB_face_graph_triangle_primitive<Mesh> Primitive;
+#if CGAL_VERSION_MAJOR >= 6
+  // typedef CGAL::AABB_traits_3<K, Primitive> Traits;
+#else
   // typedef CGAL::AABB_traits<K, Primitive> Traits;
+#endif
   // typedef CGAL::AABB_tree<Traits> Tree;
   // typedef boost::optional<Tree::Intersection_and_primitive_id<Segment>::Type>
   // Segment_intersection;
@@ -507,7 +566,7 @@ TEST(CGAL, SurfaceMeshWavefield) {
   // typedef Mesh::Face_index face_descriptor;
 
   // typedef CGAL::AABB_face_graph_triangle_primitive<Mesh> Primitive;
-  // typedef CGAL::AABB_traits<K, Primitive> Traits;
+  // typedef CGAL::AABB_traits_3<K, Primitive> Traits;
   // typedef CGAL::AABB_tree<Traits> Tree;
   // typedef boost::optional<Tree::Intersection_and_primitive_id<Segment>::Type>
   // Segment_intersection;
diff --git a/gz-waves/src/CMakeLists.txt b/gz-waves/src/CMakeLists.txt
index 36aeebb9..32f54ced 100644
--- a/gz-waves/src/CMakeLists.txt
+++ b/gz-waves/src/CMakeLists.txt
@@ -63,6 +63,12 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   sdformat${SDF_VER}::sdformat${SDF_VER}
   ${FFT_LIBRARIES}
 )
+if (${CGAL_VERSION_MAJOR} GREATER_EQUAL 6)
+  target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+    PUBLIC
+    CGAL::CGAL
+  )
+endif()
 if (UNIX AND NOT APPLE)
   target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
     PRIVATE stdc++fs)
diff --git a/gz-waves/src/Geometry.cc b/gz-waves/src/Geometry.cc
index c8da5367..d9c2d0fd 100644
--- a/gz-waves/src/Geometry.cc
+++ b/gz-waves/src/Geometry.cc
@@ -17,7 +17,11 @@
 
 #include <CGAL/AABB_face_graph_triangle_primitive.h>
 #include <CGAL/AABB_tree.h>
+#if CGAL_VERSION_MAJOR >= 6
+#include <CGAL/AABB_traits_3.h>
+#else
 #include <CGAL/AABB_traits.h>
+#endif
 #include <CGAL/Simple_cartesian.h>
 #include <CGAL/Surface_mesh.h>
 #include <CGAL/Timer.h>
@@ -29,15 +33,20 @@
 #include <limits>
 #include <memory>
 #include <string>
+#include <variant>
 
 namespace gz
 {
 namespace waves
 {
 // Typedefs
+#if CGAL_VERSION_MAJOR >= 6
+typedef std::optional<cgal::AABBTree::Intersection_and_primitive_id<
+    cgal::Ray>::Type> RayIntersection;
+#else
 typedef boost::optional<cgal::AABBTree::Intersection_and_primitive_id<
     cgal::Ray>::Type> RayIntersection;
-
+#endif
 double Geometry::TriangleArea(
   const cgal::Point3& _p0,
   const cgal::Point3& _p1,
@@ -305,9 +314,15 @@ bool Geometry::SearchMesh(
   // Retrieve intersection point
   if (intersection)
   {
+#if CGAL_VERSION_MAJOR >= 6
+    if (std::get_if<cgal::Point3>(&(intersection->first)))
+    {
+      const cgal::Point3* p = std::get_if<cgal::Point3>(&(intersection->first));
+#else
     if (boost::get<cgal::Point3>(&(intersection->first)))
     {
-      const cgal::Point3* p =  boost::get<cgal::Point3>(&(intersection->first));
+      const cgal::Point3* p = boost::get<cgal::Point3>(&(intersection->first));
+#endif
       _intersection = *p;
       return true;
     }
@@ -333,9 +348,15 @@ bool Geometry::SearchMesh(
   // Retrieve intersection point
   if (intersection)
   {
+#if CGAL_VERSION_MAJOR >= 6
+    if (std::get_if<cgal::Point3>(&(intersection->first)))
+    {
+      const cgal::Point3* p = std::get_if<cgal::Point3>(&(intersection->first));
+#else
     if (boost::get<cgal::Point3>(&(intersection->first)))
     {
-      const cgal::Point3* p =  boost::get<cgal::Point3>(&(intersection->first));
+      const cgal::Point3* p = boost::get<cgal::Point3>(&(intersection->first));
+#endif
       _intersection = *p;
       return true;
     }