diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
index 723f81f0f9..11f571eef1 100644
--- a/nav2_costmap_2d/CMakeLists.txt
+++ b/nav2_costmap_2d/CMakeLists.txt
@@ -2,13 +2,14 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_costmap_2d)
 
 find_package(ament_cmake REQUIRED)
+find_package(angles REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(laser_geometry REQUIRED)
 find_package(map_msgs REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(nav2_msgs REQUIRED)
-find_package(nav2_util)
+find_package(nav2_util REQUIRED)
 find_package(nav2_voxel_grid REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -18,15 +19,11 @@ find_package(rmw REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2_sensor_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
-find_package(angles REQUIRED)
-
-remove_definitions(-DDISABLE_LIBUSB-1.0)
-find_package(Eigen3 3.3 REQUIRED)
 
 nav2_package()
 
@@ -44,41 +41,23 @@ add_library(nav2_costmap_2d_core SHARED
   src/footprint_collision_checker.cpp
   plugins/costmap_filters/costmap_filter.cpp
 )
-add_library(${PROJECT_NAME}::nav2_costmap_2d_core ALIAS nav2_costmap_2d_core)
-
 target_include_directories(nav2_costmap_2d_core
   PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-
-set(dependencies
-  geometry_msgs
-  laser_geometry
-  map_msgs
-  message_filters
-  nav2_msgs
-  nav2_util
-  nav2_voxel_grid
-  nav_msgs
-  pluginlib
-  rclcpp
-  rclcpp_lifecycle
-  sensor_msgs
-  std_msgs
-  std_srvs
-  tf2
-  tf2_geometry_msgs
-  tf2_ros
-  tf2_sensor_msgs
-  visualization_msgs
-  angles
-)
-
-ament_target_dependencies(nav2_costmap_2d_core
-  ${dependencies}
+target_link_libraries(nav2_costmap_2d_core PUBLIC
+  ${geometry_msgs_TARGETS}
+  ${map_msgs_TARGETS}
+  ${nav_msgs_TARGETS}
+  ${nav2_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  pluginlib::pluginlib
+  ${std_srvs_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  tf2_sensor_msgs::tf2_sensor_msgs
 )
-target_link_libraries(nav2_costmap_2d_core Eigen3::Eigen)
 
 add_library(layers SHARED
   plugins/inflation_layer.cpp
@@ -89,12 +68,22 @@ add_library(layers SHARED
   plugins/range_sensor_layer.cpp
   plugins/denoise_layer.cpp
 )
-add_library(${PROJECT_NAME}::layers ALIAS layers)
-ament_target_dependencies(layers
-  ${dependencies}
+target_include_directories(layers
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(layers PUBLIC
+  angles::angles
+  rclcpp::rclcpp
+  message_filters::message_filters
+  laser_geometry::laser_geometry
+  nav2_voxel_grid::voxel_grid
+  nav2_costmap_2d_core
+  tf2::tf2
 )
-target_link_libraries(layers
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+target_link_libraries(layers PRIVATE
+  pluginlib::pluginlib
 )
 
 add_library(filters SHARED
@@ -102,14 +91,15 @@ add_library(filters SHARED
   plugins/costmap_filters/speed_filter.cpp
   plugins/costmap_filters/binary_filter.cpp
 )
-add_library(${PROJECT_NAME}::filters ALIAS filters)
-
-
-ament_target_dependencies(filters
-  ${dependencies}
+target_include_directories(filters
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-target_link_libraries(filters
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+target_link_libraries(filters PUBLIC
+  nav2_costmap_2d_core
+  ${std_msgs_TARGETS}
+  tf2::tf2
 )
 
 add_library(nav2_costmap_2d_client SHARED
@@ -117,39 +107,40 @@ add_library(nav2_costmap_2d_client SHARED
   src/costmap_subscriber.cpp
   src/costmap_topic_collision_checker.cpp
 )
-add_library(${PROJECT_NAME}::nav2_costmap_2d_client ALIAS nav2_costmap_2d_client)
-
-ament_target_dependencies(nav2_costmap_2d_client
-  ${dependencies}
+target_include_directories(nav2_costmap_2d_client
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-
-target_link_libraries(nav2_costmap_2d_client
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+target_link_libraries(nav2_costmap_2d_client PUBLIC
+  nav2_costmap_2d_core
+  ${std_msgs_TARGETS}
+  tf2::tf2
 )
 
 add_executable(nav2_costmap_2d_markers src/costmap_2d_markers.cpp)
-target_link_libraries(nav2_costmap_2d_markers
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-)
-
-ament_target_dependencies(nav2_costmap_2d_markers
-  ${dependencies}
+target_link_libraries(nav2_costmap_2d_markers PRIVATE
+  ${nav2_msgs_TARGETS}
+  nav2_voxel_grid::voxel_grid
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  ${visualization_msgs_TARGETS}
 )
 
 add_executable(nav2_costmap_2d_cloud src/costmap_2d_cloud.cpp)
-target_link_libraries(nav2_costmap_2d_cloud
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+target_link_libraries(nav2_costmap_2d_cloud PRIVATE
+  nav2_voxel_grid::voxel_grid
+  ${nav2_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
+  ${std_msgs_TARGETS}
 )
 
 add_executable(nav2_costmap_2d src/costmap_2d_node.cpp)
-ament_target_dependencies(nav2_costmap_2d
-  ${dependencies}
-)
-
-target_link_libraries(nav2_costmap_2d
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-  ${PROJECT_NAME}::layers
-  ${PROJECT_NAME}::filters
+target_link_libraries(nav2_costmap_2d PRIVATE
+  rclcpp::rclcpp
+  nav2_costmap_2d_core
 )
 
 install(TARGETS
@@ -183,11 +174,32 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
+  ament_find_gtest()
   add_subdirectory(test)
   pluginlib_export_plugin_description_file(nav2_costmap_2d test/regression/order_layer.xml)
 endif()
 
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_libraries(layers filters nav2_costmap_2d_core nav2_costmap_2d_client)
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(${dependencies})
+ament_export_dependencies(
+  angles
+  geometry_msgs
+  laser_geometry
+  map_msgs
+  message_filters
+  nav_msgs
+  nav2_msgs
+  nav2_util
+  nav2_voxel_grid
+  pluginlib
+  rclcpp
+  rmw
+  std_msgs
+  std_srvs
+  tf2
+  tf2_ros
+  tf2_sensor_msgs
+)
 pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml)
 ament_package()
diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml
index ec763b7a56..9340bd404a 100644
--- a/nav2_costmap_2d/package.xml
+++ b/nav2_costmap_2d/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>
 
+  <depend>angles</depend>
   <depend>geometry_msgs</depend>
   <depend>laser_geometry</depend>
   <depend>map_msgs</depend>
@@ -30,6 +31,7 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>rmw</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
@@ -38,7 +40,6 @@
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
   <depend>visualization_msgs</depend>
-  <depend>angles</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
@@ -49,6 +50,6 @@
   <test_depend>nav2_lifecycle_manager</test_depend>
 
   <export>
-	  <build_type>ament_cmake</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/nav2_costmap_2d/test/integration/CMakeLists.txt b/nav2_costmap_2d/test/integration/CMakeLists.txt
index 7fbef3d41d..7125a51418 100644
--- a/nav2_costmap_2d/test/integration/CMakeLists.txt
+++ b/nav2_costmap_2d/test/integration/CMakeLists.txt
@@ -2,65 +2,65 @@ ament_add_gtest_executable(footprint_tests_exec
   footprint_tests.cpp
 )
 target_link_libraries(footprint_tests_exec
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-  ${PROJECT_NAME}::layers
+  nav2_costmap_2d_core
+  layers
 )
 
 ament_add_gtest_executable(test_collision_checker_exec
   test_costmap_topic_collision_checker.cpp
 )
 target_link_libraries(test_collision_checker_exec
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-  ${PROJECT_NAME}::nav2_costmap_2d_client
-  ${PROJECT_NAME}::layers
+  nav2_costmap_2d_core
+  nav2_costmap_2d_client
+  layers
 )
 
 ament_add_gtest_executable(inflation_tests_exec
   inflation_tests.cpp
 )
 target_link_libraries(inflation_tests_exec
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-  ${PROJECT_NAME}::layers
+  nav2_costmap_2d_core
+  layers
 )
 
 ament_add_gtest_executable(obstacle_tests_exec
   obstacle_tests.cpp
 )
 target_link_libraries(obstacle_tests_exec
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-  ${PROJECT_NAME}::layers
+  nav2_costmap_2d_core
+  layers
 )
 
 ament_add_gtest_executable(range_tests_exec
   range_tests.cpp
 )
 target_link_libraries(range_tests_exec
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-  ${PROJECT_NAME}::layers
+  nav2_costmap_2d_core
+  layers
 )
 
 ament_add_gtest(dyn_params_tests
   dyn_params_tests.cpp
 )
 target_link_libraries(dyn_params_tests
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+  nav2_costmap_2d_core
 )
 
 ament_add_gtest_executable(test_costmap_publisher_exec
-    test_costmap_2d_publisher.cpp
+  test_costmap_2d_publisher.cpp
 )
 target_link_libraries(test_costmap_publisher_exec
-    ${PROJECT_NAME}::nav2_costmap_2d_core
-    ${PROJECT_NAME}::nav2_costmap_2d_client
-    ${PROJECT_NAME}::layers
+  nav2_costmap_2d_core
+  nav2_costmap_2d_client
+  layers
 )
 
 ament_add_gtest_executable(test_costmap_subscriber_exec
-test_costmap_subscriber.cpp
+  test_costmap_subscriber.cpp
 )
 target_link_libraries(test_costmap_subscriber_exec
-    ${PROJECT_NAME}::nav2_costmap_2d_core
-    ${PROJECT_NAME}::nav2_costmap_2d_client
+  nav2_costmap_2d_core
+  nav2_costmap_2d_client
 )
 
 ament_add_test(test_collision_checker
@@ -114,20 +114,20 @@ ament_add_test(range_tests
 )
 
 ament_add_test(test_costmap_publisher_exec
-    GENERATE_RESULT_FOR_RETURN_CODE_ZERO
-    COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
-    WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-    ENV
+  GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+  COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
+  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+  ENV
     TEST_MAP=${TEST_MAP_DIR}/TenByTen.yaml
     TEST_LAUNCH_DIR=${TEST_LAUNCH_DIR}
     TEST_EXECUTABLE=$<TARGET_FILE:test_costmap_publisher_exec>
 )
 
 ament_add_test(test_costmap_subscriber_exec
-    GENERATE_RESULT_FOR_RETURN_CODE_ZERO
-    COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
-    WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-    ENV
+  GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+  COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
+  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+  ENV
     TEST_MAP=${TEST_MAP_DIR}/TenByTen.yaml
     TEST_LAUNCH_DIR=${TEST_LAUNCH_DIR}
     TEST_EXECUTABLE=$<TARGET_FILE:test_costmap_subscriber_exec>
@@ -142,6 +142,6 @@ ament_add_test(test_costmap_subscriber_exec
 #   ${dependencies}
 # )
 # target_link_libraries(costmap_tester
-#   ${PROJECT_NAME}::nav2_costmap_2d_core
+#   nav2_costmap_2d_core
 #   layers
 # )
diff --git a/nav2_costmap_2d/test/regression/CMakeLists.txt b/nav2_costmap_2d/test/regression/CMakeLists.txt
index aafc4d561b..d468dd3798 100644
--- a/nav2_costmap_2d/test/regression/CMakeLists.txt
+++ b/nav2_costmap_2d/test/regression/CMakeLists.txt
@@ -1,17 +1,13 @@
 # Bresenham2D corner cases test
 ament_add_gtest(costmap_bresenham_2d costmap_bresenham_2d.cpp)
 target_link_libraries(costmap_bresenham_2d
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+  nav2_costmap_2d_core
 )
 
 # OrderLayer for checking Costmap2D plugins API calling order
-add_library(order_layer SHARED
-            order_layer.cpp)
-ament_target_dependencies(order_layer
-  ${dependencies}
-)
-target_link_libraries(order_layer
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+add_library(order_layer SHARED order_layer.cpp)
+target_link_libraries(order_layer PUBLIC
+  nav2_costmap_2d_core
 )
 install(TARGETS
   order_layer
@@ -23,5 +19,5 @@ install(TARGETS
 # Costmap2D plugins API calling order test
 ament_add_gtest(plugin_api_order plugin_api_order.cpp)
 target_link_libraries(plugin_api_order
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+  nav2_costmap_2d_core
 )
diff --git a/nav2_costmap_2d/test/unit/CMakeLists.txt b/nav2_costmap_2d/test/unit/CMakeLists.txt
index 0d332a4463..3cdc10aecb 100644
--- a/nav2_costmap_2d/test/unit/CMakeLists.txt
+++ b/nav2_costmap_2d/test/unit/CMakeLists.txt
@@ -1,63 +1,64 @@
 ament_add_gtest(collision_footprint_test footprint_collision_checker_test.cpp)
 target_link_libraries(collision_footprint_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+  nav2_costmap_2d_core
 )
 
 ament_add_gtest(costmap_convesion_test costmap_conversion_test.cpp)
 target_link_libraries(costmap_convesion_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+  nav2_costmap_2d_core
 )
 
 ament_add_gtest(costmap_cost_service_test costmap_cost_service_test.cpp)
 target_link_libraries(costmap_cost_service_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+  nav2_costmap_2d_core
 )
 
 ament_add_gtest(declare_parameter_test declare_parameter_test.cpp)
 target_link_libraries(declare_parameter_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+  nav2_costmap_2d_core
 )
 
 ament_add_gtest(costmap_filter_test costmap_filter_test.cpp)
 target_link_libraries(costmap_filter_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+  nav2_costmap_2d_core
 )
 
 ament_add_gtest(keepout_filter_test keepout_filter_test.cpp)
 target_link_libraries(keepout_filter_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-  ${PROJECT_NAME}::filters
+  nav2_costmap_2d_core
+  filters
 )
 
 ament_add_gtest(speed_filter_test speed_filter_test.cpp)
 target_link_libraries(speed_filter_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-  ${PROJECT_NAME}::filters
+  nav2_costmap_2d_core
+  filters
 )
 
 ament_add_gtest(binary_filter_test binary_filter_test.cpp)
 target_link_libraries(binary_filter_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-  ${PROJECT_NAME}::filters
+  filters
+  nav2_costmap_2d_core
+  ${std_msgs_TARGETS}
 )
 
 ament_add_gtest(copy_window_test copy_window_test.cpp)
 target_link_libraries(copy_window_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+  nav2_costmap_2d_core
 )
 
 ament_add_gtest(costmap_filter_service_test costmap_filter_service_test.cpp)
 target_link_libraries(costmap_filter_service_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
+  nav2_costmap_2d_core
 )
 
 ament_add_gtest(denoise_layer_test denoise_layer_test.cpp image_test.cpp image_processing_test.cpp)
 target_link_libraries(denoise_layer_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-  ${PROJECT_NAME}::layers
+  nav2_costmap_2d_core
+  layers
 )
 
 ament_add_gtest(lifecycle_test lifecycle_test.cpp)
 target_link_libraries(lifecycle_test
-  ${PROJECT_NAME}::nav2_costmap_2d_core
-)
\ No newline at end of file
+  nav2_costmap_2d_core
+)