diff --git a/nav2_costmap_2d/test/integration/CMakeLists.txt b/nav2_costmap_2d/test/integration/CMakeLists.txt
index 7125a51418..6566784753 100644
--- a/nav2_costmap_2d/test/integration/CMakeLists.txt
+++ b/nav2_costmap_2d/test/integration/CMakeLists.txt
@@ -138,10 +138,10 @@ ament_add_test(test_costmap_subscriber_exec
 # ament_add_gtest_executable(costmap_tester
 #   costmap_tester.cpp
 # )
-# ament_target_dependencies(costmap_tester
-#   ${dependencies}
-# )
 # target_link_libraries(costmap_tester
-#   nav2_costmap_2d_core
 #   layers
+#   nav2_costmap_2d::nav2_costmap_2d_core
+#   nav2_util::nav2_utils_core
+#   rclcpp::rclcpp
+#   tf2_ros::tf2_ros
 # )
diff --git a/nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt b/nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt
index 5099822acb..e900fd292c 100644
--- a/nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt
+++ b/nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt
@@ -1,10 +1,9 @@
 cmake_minimum_required(VERSION 3.5)
 project(nav2_dwb_controller)
 
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+
+nav2_package()
 
 ament_package()
diff --git a/nav2_dwb_controller/nav2_dwb_controller/package.xml b/nav2_dwb_controller/nav2_dwb_controller/package.xml
index 77d5f4ec9f..f98c8473a8 100644
--- a/nav2_dwb_controller/nav2_dwb_controller/package.xml
+++ b/nav2_dwb_controller/nav2_dwb_controller/package.xml
@@ -11,14 +11,15 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
-  <depend>costmap_queue</depend>
-  <depend>dwb_core</depend>
-  <depend>dwb_critics</depend>
-  <depend>dwb_msgs</depend>
-  <depend>dwb_plugins</depend>
-  <depend>nav_2d_msgs</depend>
-  <depend>nav_2d_utils</depend>
+  <exec_depend>costmap_queue</exec_depend>
+  <exec_depend>dwb_core</exec_depend>
+  <exec_depend>dwb_critics</exec_depend>
+  <exec_depend>dwb_msgs</exec_depend>
+  <exec_depend>dwb_plugins</exec_depend>
+  <exec_depend>nav_2d_msgs</exec_depend>
+  <exec_depend>nav_2d_utils</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_mppi_controller/benchmark/CMakeLists.txt b/nav2_mppi_controller/benchmark/CMakeLists.txt
index 97db9f4185..3f92196fcb 100644
--- a/nav2_mppi_controller/benchmark/CMakeLists.txt
+++ b/nav2_mppi_controller/benchmark/CMakeLists.txt
@@ -9,14 +9,17 @@ foreach(name IN LISTS BENCHMARK_NAMES)
   add_executable(${name}
     ${name}.cpp
   )
-  ament_target_dependencies(${name}
-    ${dependencies_pkgs}
-  )
   target_link_libraries(${name}
-    mppi_controller mppi_critics benchmark
+    benchmark
+    ${geometry_msgs_TARGETS}
+    mppi_controller
+    mppi_critics
+    nav2_core::nav2_core
+    nav2_costmap_2d::nav2_costmap_2d_core
+    ${nav_msgs_TARGETS}
   )
 
-target_include_directories(${name} PRIVATE
+  target_include_directories(${name} PRIVATE
     ${PROJECT_SOURCE_DIR}/test/utils
-)
+  )
 endforeach()
diff --git a/nav2_mppi_controller/benchmark/optimizer_benchmark.cpp b/nav2_mppi_controller/benchmark/optimizer_benchmark.cpp
index a7216bc80d..0906385c1a 100644
--- a/nav2_mppi_controller/benchmark/optimizer_benchmark.cpp
+++ b/nav2_mppi_controller/benchmark/optimizer_benchmark.cpp
@@ -13,7 +13,9 @@
 // limitations under the License.
 
 #include <benchmark/benchmark.h>
+
 #include <string>
+#include <vector>
 
 #include "gtest/gtest.h"
 #include <geometry_msgs/msg/pose_stamped.hpp>
diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt
index a8789af62d..4ae1a98ad9 100644
--- a/nav2_smac_planner/CMakeLists.txt
+++ b/nav2_smac_planner/CMakeLists.txt
@@ -1,8 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(nav2_smac_planner)
 
-set(CMAKE_BUILD_TYPE Release) #Debug, Release
-
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(angles REQUIRED)
diff --git a/navigation2/CMakeLists.txt b/navigation2/CMakeLists.txt
index 763c95c1e9..3b82e6c002 100644
--- a/navigation2/CMakeLists.txt
+++ b/navigation2/CMakeLists.txt
@@ -1,10 +1,9 @@
 cmake_minimum_required(VERSION 3.5)
 project(navigation2)
 
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+
+nav2_package()
 
 ament_package()
diff --git a/navigation2/package.xml b/navigation2/package.xml
index 4d7fffeb9c..45ad44912b 100644
--- a/navigation2/package.xml
+++ b/navigation2/package.xml
@@ -11,6 +11,7 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
   <!-- nav2_bringup doesn't belong for recursive dependencies -->
   <exec_depend>nav2_amcl</exec_depend>