diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index 25bc985..48555ed 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -16,8 +16,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-include_directories(include)
-
 set(${PROJECT_NAME}_SRCS
   src/client.cpp
   src/qos.cpp
@@ -29,6 +27,11 @@ set(${PROJECT_NAME}_SRCS
 add_library(${PROJECT_NAME}
   ${${PROJECT_NAME}_SRCS})
 
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
+
 ament_target_dependencies(${PROJECT_NAME}
   "action_msgs"
   "rcl_action"
@@ -47,6 +50,7 @@ install(
 
 install(
   TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -55,6 +59,7 @@ install(
 # specific order: dependents before dependencies
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(${PROJECT_NAME})
 
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(action_msgs)
diff --git a/rclcpp_lifecycle/CMakeLists.txt b/rclcpp_lifecycle/CMakeLists.txt
index d7a195f..ab4cf4f 100644
--- a/rclcpp_lifecycle/CMakeLists.txt
+++ b/rclcpp_lifecycle/CMakeLists.txt
@@ -16,8 +16,6 @@ find_package(rcl_lifecycle REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 
-include_directories(include)
-
 ### CPP High level library
 add_library(rclcpp_lifecycle
   src/lifecycle_node.cpp
@@ -25,6 +23,10 @@ add_library(rclcpp_lifecycle
   src/state.cpp
   src/transition.cpp
 )
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
 # specific order: dependents before dependencies
 ament_target_dependencies(rclcpp_lifecycle
   "rclcpp"
@@ -38,7 +40,7 @@ ament_target_dependencies(rclcpp_lifecycle
 target_compile_definitions(rclcpp_lifecycle PRIVATE "RCLCPP_LIFECYCLE_BUILDING_DLL")
 
 install(TARGETS
-  rclcpp_lifecycle
+  rclcpp_lifecycle EXPORT rclcpp_lifecycle
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
@@ -102,6 +104,7 @@ endif()
 # specific order: dependents before dependencies
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(${PROJECT_NAME})
 ament_export_dependencies(rclcpp)
 ament_export_dependencies(rcl_lifecycle)
 ament_export_dependencies(lifecycle_msgs)