diff --git a/draco_point_cloud_transport/CMakeLists.txt b/draco_point_cloud_transport/CMakeLists.txt
index f80ba2b..044d50b 100644
--- a/draco_point_cloud_transport/CMakeLists.txt
+++ b/draco_point_cloud_transport/CMakeLists.txt
@@ -16,17 +16,16 @@ find_package(std_msgs REQUIRED)
 find_package(Draco REQUIRED)
 
 set(dependencies
-  pluginlib
-  point_cloud_interfaces
-  point_cloud_transport
-  rclcpp
-  rcpputils
-  sensor_msgs
-  std_msgs
+  pluginlib::pluginlib
+  ${point_cloud_interfaces_TARGETS}
+  point_cloud_transport::point_cloud_transport
+  rclcpp::rclcpp
+  rcpputils::rcpputils
+  ${sensor_msgs_TARGETS}
+  ${std_msgs_TARGETS}
 )
 
-
-include_directories(include ${DRACO_INCLUDE_DIR})
+include_directories(include)
 
 add_library(${PROJECT_NAME}
   SHARED
@@ -36,9 +35,15 @@ add_library(${PROJECT_NAME}
   src/manifest.cpp
 )
 
-target_link_libraries(${PROJECT_NAME} ${DRACO_LIBRARY})
-
-ament_target_dependencies(${PROJECT_NAME} ${dependencies})
+target_link_libraries(${PROJECT_NAME} PRIVATE
+  ${DRACO_LIBRARY}
+  ${dependencies}
+)
+target_include_directories(${PROJECT_NAME} PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+  ${DRACO_INCLUDE_DIR}
+)
 
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
diff --git a/plugin_template/CMakeLists.txt b/plugin_template/CMakeLists.txt
index 2751011..2b9fb06 100644
--- a/plugin_template/CMakeLists.txt
+++ b/plugin_template/CMakeLists.txt
@@ -1,4 +1,4 @@
-# TODO (YourNameHere): This is not a working CMake Project! 
+# TODO (YourNameHere): This is not a working CMake Project!
 # Some assembly required for your plugin. (-:
 
 cmake_minimum_required(VERSION 3.10.2)
@@ -15,13 +15,15 @@ find_package(rclcpp REQUIRED)
 # TODO (YourNameHere): You might need more dependencies
 
 set(dependencies
-  pluginlib
-  point_cloud_interfaces
-  point_cloud_transport
-  rclcpp
+  pluginlib::pluginlib
+  ${point_cloud_interfaces_TARGETS}
+  point_cloud_transport::point_cloud_transport
+  rclcpp::rclcpp
 )
 
-include_directories(include)
+target_include_directories(${PROJECT_NAME} PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 
 add_library(${PROJECT_NAME}
   SHARED
@@ -31,7 +33,9 @@ add_library(${PROJECT_NAME}
   src/template_subscriber.cpp
 )
 
-ament_target_dependencies(${PROJECT_NAME} ${dependencies})
+target_link_libraries(${PROJECT_NAME} PRIVATE
+  ${dependencies}
+)
 
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
diff --git a/zlib_point_cloud_transport/CMakeLists.txt b/zlib_point_cloud_transport/CMakeLists.txt
index 907a56a..835e4ff 100644
--- a/zlib_point_cloud_transport/CMakeLists.txt
+++ b/zlib_point_cloud_transport/CMakeLists.txt
@@ -12,15 +12,12 @@ find_package(rclcpp REQUIRED)
 find_package(ZLIB REQUIRED)
 
 set(dependencies
-  pluginlib
-  point_cloud_interfaces
-  point_cloud_transport
-  rclcpp
+  pluginlib::pluginlib
+  ${point_cloud_interfaces_TARGETS}
+  point_cloud_transport::point_cloud_transport
+  rclcpp::rclcpp
 )
 
-
-include_directories(include)
-
 add_library(${PROJECT_NAME}
   SHARED
   src/zlib_publisher.cpp
@@ -29,9 +26,14 @@ add_library(${PROJECT_NAME}
   src/manifest.cpp
 )
 
-target_link_libraries(${PROJECT_NAME} ZLIB::ZLIB)
-
-ament_target_dependencies(${PROJECT_NAME} ${dependencies})
+target_link_libraries(${PROJECT_NAME} PRIVATE
+  ZLIB::ZLIB
+  ${dependencies}
+)
+target_include_directories(${PROJECT_NAME} PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
 
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
diff --git a/zstd_point_cloud_transport/CMakeLists.txt b/zstd_point_cloud_transport/CMakeLists.txt
index b38dd9d..4efac77 100644
--- a/zstd_point_cloud_transport/CMakeLists.txt
+++ b/zstd_point_cloud_transport/CMakeLists.txt
@@ -11,14 +11,12 @@ find_package(point_cloud_transport REQUIRED)
 find_package(rclcpp REQUIRED)
 
 set(dependencies
-  pluginlib
-  point_cloud_interfaces
-  point_cloud_transport
-  rclcpp
+  pluginlib::pluginlib
+  ${point_cloud_interfaces_TARGETS}
+  point_cloud_transport::point_cloud_transport
+  rclcpp::rclcpp
 )
 
-include_directories(include)
-
 add_library(${PROJECT_NAME}
   SHARED
   src/zstd_publisher.cpp
@@ -26,9 +24,14 @@ add_library(${PROJECT_NAME}
   src/manifest.cpp
 )
 
-target_link_libraries(${PROJECT_NAME} zstd)
+target_link_libraries(${PROJECT_NAME} PRIVATE
+  zstd
+  ${dependencies}
+)
 
-ament_target_dependencies(${PROJECT_NAME} ${dependencies})
+target_include_directories(${PROJECT_NAME} PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib