diff --git a/nav2_core/CMakeLists.txt b/nav2_core/CMakeLists.txt
index 988f940864..1d0e6b724f 100644
--- a/nav2_core/CMakeLists.txt
+++ b/nav2_core/CMakeLists.txt
@@ -2,36 +2,47 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_core)
 
 find_package(ament_cmake REQUIRED)
-find_package(nav2_common REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(nav2_behavior_tree REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(tf2_ros REQUIRED)
 find_package(nav2_util REQUIRED)
 find_package(nav_msgs REQUIRED)
-find_package(nav2_behavior_tree REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 nav2_package()
 
-set(dependencies
-  rclcpp
-  rclcpp_lifecycle
-  std_msgs
-  geometry_msgs
-  nav2_costmap_2d
-  pluginlib
-  visualization_msgs
-  nav_msgs
-  tf2_ros
-  nav2_util
-  nav2_behavior_tree
+add_library(nav2_core INTERFACE)
+target_include_directories(nav2_core
+  INTERFACE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(nav2_core INTERFACE
+  ${geometry_msgs_TARGETS}
+  nav2_behavior_tree::nav2_behavior_tree
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_costmap_2d::nav2_costmap_2d_client
+  nav2_util::nav2_util_core
+  ${nav_msgs_TARGETS}
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2_ros::tf2_ros
+)
+
+install(TARGETS nav2_core
+  EXPORT nav2_core
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
@@ -41,7 +52,18 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_export_include_directories(include)
-ament_export_dependencies(${dependencies})
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_dependencies(
+  geometry_msgs
+  nav2_behavior_tree
+  nav2_costmap_2d
+  nav2_util
+  nav_msgs
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  tf2_ros
+)
+ament_export_targets(nav2_core)
 
 ament_package()
diff --git a/nav2_core/package.xml b/nav2_core/package.xml
index 07a09b2737..55e94f1b9f 100644
--- a/nav2_core/package.xml
+++ b/nav2_core/package.xml
@@ -11,23 +11,18 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>
 
-  <depend>rclcpp</depend>
-  <depend>rclcpp_lifecycle</depend>
-  <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>nav2_behavior_tree</depend>
   <depend>nav2_costmap_2d</depend>
-  <depend>pluginlib</depend>
+  <depend>nav2_util</depend>
   <depend>nav_msgs</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
   <depend>tf2_ros</depend>
-  <depend>nav2_util</depend>
-  <depend>nav2_behavior_tree</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch</test_depend>
-  <test_depend>launch_testing</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_graceful_controller/CMakeLists.txt b/nav2_graceful_controller/CMakeLists.txt
index 11a6b89e0b..9cec5b9204 100644
--- a/nav2_graceful_controller/CMakeLists.txt
+++ b/nav2_graceful_controller/CMakeLists.txt
@@ -14,6 +14,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(nav_2d_utils REQUIRED)
 find_package(angles REQUIRED)
+find_package(visualization_msgs REQUIRED)
 
 nav2_package()
 
@@ -33,6 +34,7 @@ set(dependencies
   tf2_geometry_msgs
   nav_2d_utils
   angles
+  visualization_msgs
 )
 
 # Add Smooth Control Law as library
diff --git a/nav2_graceful_controller/package.xml b/nav2_graceful_controller/package.xml
index 4fadf93747..b6deb17b72 100644
--- a/nav2_graceful_controller/package.xml
+++ b/nav2_graceful_controller/package.xml
@@ -21,6 +21,7 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>nav_2d_utils</depend>
   <depend>angles</depend>
+  <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>