diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index d1ca78e..d5bee53 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -65,6 +65,7 @@ endmacro()
 
 call_for_each_rmw_implementation(target GENERATE_DEFAULT)
 
+ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rmw_implementation)
diff --git a/rclcpp/cmake/get_rclcpp_information.cmake b/rclcpp/cmake/get_rclcpp_information.cmake
index a7553f2..309c6b7 100644
--- a/rclcpp/cmake/get_rclcpp_information.cmake
+++ b/rclcpp/cmake/get_rclcpp_information.cmake
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 #
-# Get all information abut rclcpp for a specific RMW implementation.
+# Get all information about rclcpp for a specific RMW implementation.
 #
 # It sets the common variables _DEFINITIONS, _INCLUDE_DIRS and _LIBRARIES
 # with the given prefix.
@@ -29,7 +29,7 @@ macro(get_rclcpp_information rmw_implementation var_prefix)
   set(${var_prefix}_FOUND TRUE)
 
   # include directories
-  set(${var_prefix}_INCLUDE_DIRS
+  normalize_path(${var_prefix}_INCLUDE_DIRS
     "${rclcpp_DIR}/../../../include")
 
   # libraries
@@ -49,7 +49,7 @@ macro(get_rclcpp_information rmw_implementation var_prefix)
   )
   if(NOT _lib)
     # warn about not existing library and ignore it
-    message(FATAL_ERROR "Package 'rclcpp' doesn't contain the library '${_library_target}'")
+    message(WARNING "Package 'rclcpp' doesn't contain the library '${_library_target}'")
   elseif(NOT IS_ABSOLUTE "${_lib}")
     # the found library must be an absolute path
     message(FATAL_ERROR "Package 'rclcpp' found the library '${_library_target}' at '${_lib}' which is not an absolute path")
diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 87fa1a1..db04382 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -18,6 +18,8 @@
 
   <depend>rmw_implementation</depend>
 
+  <exec_depend>ament_cmake</exec_depend>
+
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>