diff --git a/rmw_cyclonedds_cpp/CMakeLists.txt b/rmw_cyclonedds_cpp/CMakeLists.txt
index 9d540ca..7fe2187 100644
--- a/rmw_cyclonedds_cpp/CMakeLists.txt
+++ b/rmw_cyclonedds_cpp/CMakeLists.txt
@@ -16,8 +16,6 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rmw_cyclonedds_cpp)
 
-link_directories(/usr/local/lib)
-
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -50,10 +48,6 @@ ament_export_dependencies(rosidl_generator_c)
 ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 
-include_directories(include)
-
-###??
-
 add_library(rmw_cyclonedds_cpp
   src/namespace_prefix.cpp
   src/rmw_node.cpp
@@ -65,6 +59,11 @@ add_library(rmw_cyclonedds_cpp
   src/deserialization_exception.cpp
 )
 
+target_include_directories(rmw_cyclonedds_cpp PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
 target_link_libraries(rmw_cyclonedds_cpp CycloneDDS::ddsc)
 
 ament_target_dependencies(rmw_cyclonedds_cpp