diff --git a/nav2_voxel_grid/CMakeLists.txt b/nav2_voxel_grid/CMakeLists.txt
index 4b88a87d86..afd87f59af 100644
--- a/nav2_voxel_grid/CMakeLists.txt
+++ b/nav2_voxel_grid/CMakeLists.txt
@@ -7,29 +7,26 @@ find_package(rclcpp REQUIRED)
 
 nav2_package()
 
-include_directories(
-  include)
-
 add_library(voxel_grid SHARED
   src/voxel_grid.cpp
 )
-
-set(dependencies
-  rclcpp
-)
-
-ament_target_dependencies(voxel_grid
-  ${dependencies}
+target_include_directories(voxel_grid
+  PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(voxel_grid PUBLIC
+  rclcpp::rclcpp
 )
 
 install(TARGETS voxel_grid
+  EXPORT voxel_grid
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
-  DESTINATION include
+  DESTINATION include/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
@@ -39,11 +36,15 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
+
+  ament_find_gtest()
+
   add_subdirectory(test)
 endif()
 
 ament_export_dependencies(rclcpp)
 ament_export_include_directories(include)
 ament_export_libraries(voxel_grid)
+ament_export_targets(voxel_grid)
 
 ament_package()
diff --git a/nav2_voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp b/nav2_voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp
index 07c391fff5..c537ff6cb7 100644
--- a/nav2_voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp
+++ b/nav2_voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp
@@ -44,7 +44,9 @@
 #include <math.h>
 #include <limits.h>
 #include <algorithm>
-#include "rclcpp/rclcpp.hpp"
+
+#include <rclcpp/logger.hpp>
+#include <rclcpp/logging.hpp>
 
 /**
  * @class VoxelGrid
diff --git a/nav2_voxel_grid/src/voxel_grid.cpp b/nav2_voxel_grid/src/voxel_grid.cpp
index 44a63e2e31..e4055448b3 100644
--- a/nav2_voxel_grid/src/voxel_grid.cpp
+++ b/nav2_voxel_grid/src/voxel_grid.cpp
@@ -36,6 +36,9 @@
 *********************************************************************/
 #include <nav2_voxel_grid/voxel_grid.hpp>
 
+#include <rclcpp/logger.hpp>
+#include <rclcpp/logging.hpp>
+
 namespace nav2_voxel_grid
 {
 VoxelGrid::VoxelGrid(unsigned int size_x, unsigned int size_y, unsigned int size_z)