diff --git a/CMakeLists.txt b/CMakeLists.txt
index 72ce3da..b577036 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,19 +3,30 @@ cmake_minimum_required(VERSION 3.10)
 project(gz_plugin_vendor)
 
 # Project-specific settings
-set(LIB_VER_MAJOR 3)
-set(LIB_VER_MINOR 1)
+set(LIB_VER_MAJOR 4)
+set(LIB_VER_MINOR 0)
 set(LIB_VER_PATCH 0)
-set(LIB_VER_SUFFIX "")
+set(LIB_VER_SUFFIX "-pre1")
 
 # Derived variables
 set(LIB_NAME gz-plugin)
 set(GITHUB_NAME gz-plugin)
 string(REPLACE "-" "_" LIB_NAME_UNDERSCORE ${LIB_NAME})
 set(LIB_NAME_COMP_PREFIX ${LIB_NAME})
-set(LIB_NAME_FULL ${LIB_NAME}${LIB_VER_MAJOR})
+set(LIB_NAME_FULL gz-plugin)
 set(LIB_VER ${LIB_VER_MAJOR}.${LIB_VER_MINOR}.${LIB_VER_PATCH})
 
+option(VENDOR_FROM_LIB_VCS_REF
+  "Vendor from a VCS ref instead of tag. Uses the value in LIB_VCS_REF if specified or main otherwise"
+  OFF)
+if(NOT VENDOR_FROM_LIB_VCS_REF)
+  set(LIB_VCS_VER ${GITHUB_NAME}${LIB_VER_MAJOR}_${LIB_VER}${LIB_VER_SUFFIX})
+elseif(LIB_VCS_REF)
+  set(LIB_VCS_VER ${LIB_VCS_REF})
+else()
+  set(LIB_VCS_VER main)
+endif()
+
 find_package(ament_cmake_core REQUIRED)
 find_package(ament_cmake_vendor_package REQUIRED)
 find_package(ament_cmake_export_dependencies REQUIRED)
@@ -42,7 +53,7 @@ find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
 ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
   SATISFIED ${${LIB_NAME_FULL}_FOUND}
   VCS_URL https://github.com/gazebosim/${GITHUB_NAME}.git
-  VCS_VERSION ${GITHUB_NAME}${LIB_VER_MAJOR}_${LIB_VER}${LIB_VER_SUFFIX}
+  VCS_VERSION ${LIB_VCS_VER}
   GLOBAL_HOOK
 )
 
@@ -71,39 +82,4 @@ if(NOT ${${LIB_NAME_FULL}_FOUND})
   ament_environment_hooks("${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.sh")
 endif()
 
-# The goal is to support versionless package names once the user has found the
-# vendor package. Example usage:
-#
-#   find_package(gz_sim_vendor)
-#   find_package(gz-sim VERSION 8.2.0) # Note gz-sim not gz-sim8
-#
-# To accomplish this, we create a `{LIB_NAME}-config.cmake` file that does
-# find_package on the underlying package and sets up CMake targets with the
-# same name as the original targets sans the version number in the target.
-#
-# However, since the vendor package is built with `GLOBAL_HOOK`, we can't
-# install the `-config.cmake` file we're creating here to where the versioned
-# `-config.cmake` from the underlying package is located. If we did, users can
-# `find_package` the versionless package without first finding the vendor
-# package. Thus, we install the `-config.cmake` file to a nonstandard
-# location: `opt/${PROJECT_NAME}/extra_cmake/` and provide a
-# `{vendor_name}-extras.cmake` file that adds that path to `CMAKE_PREFIX_PATH`.
-ament_package(
-  CONFIG_EXTRAS_POST "gz_plugin_vendor-extras.cmake.in"
-)
-
-include(CMakePackageConfigHelpers)
-include(GNUInstallDirs)
-
-configure_package_config_file(${LIB_NAME}-config.cmake.in
-  ${CMAKE_CURRENT_BINARY_DIR}/${LIB_NAME}-config.cmake
-  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${LIB_NAME})
-
-write_basic_package_version_file(
-  ${CMAKE_CURRENT_BINARY_DIR}/${LIB_NAME}-config-version.cmake
-  VERSION ${LIB_VER}
-  COMPATIBILITY SameMajorVersion)
-
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${LIB_NAME}-config.cmake
-              ${CMAKE_CURRENT_BINARY_DIR}/${LIB_NAME}-config-version.cmake
-        DESTINATION "opt/${PROJECT_NAME}/extra_cmake/lib/cmake/${LIB_NAME}")
+ament_package()
diff --git a/gz-plugin-config.cmake.in b/gz-plugin-config.cmake.in
deleted file mode 100644
index 56d06dd..0000000
--- a/gz-plugin-config.cmake.in
+++ /dev/null
@@ -1,24 +0,0 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
-
-find_package(@LIB_NAME@@LIB_VER_MAJOR@ ${@LIB_NAME@_FIND_VERSION} REQUIRED COMPONENTS ${@LIB_NAME@_FIND_COMPONENTS})
-
-# Set up the core library and add it to the list of all components
-add_library(@LIB_NAME_COMP_PREFIX@::@LIB_NAME_COMP_PREFIX@ ALIAS @LIB_NAME@@LIB_VER_MAJOR@::@LIB_NAME@@LIB_VER_MAJOR@)
-add_library(@LIB_NAME_COMP_PREFIX@::core ALIAS @LIB_NAME@@LIB_VER_MAJOR@::@LIB_NAME@@LIB_VER_MAJOR@)
-
-# Retrieve the list of components
-get_target_property(components @LIB_NAME@@LIB_VER_MAJOR@::requested INTERFACE_LINK_LIBRARIES)
-
-foreach(component ${components})
-  # Skip the core library
-  if(${component} STREQUAL @LIB_NAME@@LIB_VER_MAJOR@::@LIB_NAME@@LIB_VER_MAJOR@)
-    continue()
-  endif()
-
-  # Change "gz-libN::gz-libN-component" to "component"
-  string(REGEX REPLACE "@LIB_NAME@@LIB_VER_MAJOR@::@LIB_NAME@@LIB_VER_MAJOR@-" "" component_name ${component})
-  add_library(@LIB_NAME_COMP_PREFIX@::${component_name} ALIAS ${component})
-endforeach()
-
-# Add a root gz-lib alias
-add_library(@LIB_NAME_COMP_PREFIX@ ALIAS @LIB_NAME@@LIB_VER_MAJOR@::@LIB_NAME@@LIB_VER_MAJOR@)
diff --git a/gz_plugin_vendor-extras.cmake.in b/gz_plugin_vendor-extras.cmake.in
deleted file mode 100644
index d490202..0000000
--- a/gz_plugin_vendor-extras.cmake.in
+++ /dev/null
@@ -1 +0,0 @@
-list(PREPEND CMAKE_PREFIX_PATH "@CMAKE_INSTALL_PREFIX@/opt/@PROJECT_NAME@/extra_cmake")
diff --git a/package.xml b/package.xml
index 4f239c9..18e61b0 100644
--- a/package.xml
+++ b/package.xml
@@ -12,7 +12,7 @@
   -->
   <version>0.2.2</version>
   <description>
-    Vendor package for: gz-plugin3 3.1.0
+    Vendor package for: gz-plugin 4.0.0
 
     Gazebo Plugin : Cross-platform C++ library for dynamically loading plugins.
   </description>
@@ -30,7 +30,7 @@
   <depend>gz_utils_vendor</depend>
 
   <!-- Depend on the package we are vendoring to allow building it from source -->
-  <depend condition="$GZ_BUILD_FROM_SOURCE != ''">gz-plugin3</depend>
+  <depend condition="$GZ_BUILD_FROM_SOURCE != ''">gz-plugin</depend>
 
   <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_lint_cmake</test_depend>