diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9695a73e..4743d984 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,25 +1,41 @@
-cmake_minimum_required(VERSION 3.5)
-project(realtime_tools)
+cmake_minimum_required(VERSION 3.16)
+project(realtime_tools LANGUAGES CXX)
 
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra)
 endif()
 
-# Load catkin and all dependencies required for this package
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(Threads REQUIRED)
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  rclcpp
+  rclcpp_action
+  Threads
+)
 
-add_library(${PROJECT_NAME} src/realtime_clock.cpp)
-ament_target_dependencies(${PROJECT_NAME} "rclcpp" "rclcpp_action")
-target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
-target_include_directories(${PROJECT_NAME} PUBLIC include)
+find_package(ament_cmake REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+add_library(realtime_tools SHARED
+  src/realtime_clock.cpp
+)
+target_compile_features(realtime_tools PUBLIC cxx_std_17)
+target_include_directories(realtime_tools PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/realtime_tools>
+)
+ament_target_dependencies(realtime_tools PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 # A library to detect a realtime kernel and set thread priority, if one is found
-add_library(thread_priority SHARED src/thread_priority.cpp)
-target_include_directories(thread_priority PUBLIC include)
-ament_target_dependencies(thread_priority "rclcpp" "rclcpp_action")
+add_library(thread_priority SHARED
+  src/thread_priority.cpp
+)
+target_compile_features(thread_priority PUBLIC cxx_std_17)
+target_include_directories(thread_priority PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/realtime_tools>
+)
+ament_target_dependencies(thread_priority PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 # Unit Tests
 if(BUILD_TESTING)
@@ -27,42 +43,45 @@ if(BUILD_TESTING)
   find_package(test_msgs REQUIRED)
 
   ament_add_gmock(realtime_box_tests test/realtime_box_tests.cpp)
-  target_link_libraries(realtime_box_tests ${PROJECT_NAME} ${GMOCK_MAIN_LIBRARIES})
+  target_link_libraries(realtime_box_tests realtime_tools)
 
   ament_add_gmock(realtime_buffer_tests test/realtime_buffer_tests.cpp)
-  target_link_libraries(realtime_buffer_tests ${PROJECT_NAME} ${GMOCK_MAIN_LIBRARIES})
+  target_link_libraries(realtime_buffer_tests realtime_tools)
 
   ament_add_gmock(realtime_clock_tests test/realtime_clock_tests.cpp)
-  target_link_libraries(realtime_clock_tests ${PROJECT_NAME} ${GMOCK_MAIN_LIBRARIES})
+  target_link_libraries(realtime_clock_tests realtime_tools)
 
   ament_add_gmock(realtime_publisher_tests_non_polling
-                  test/realtime_publisher_non_polling.test test/realtime_publisher_tests_non_polling.cpp)
-  target_link_libraries(realtime_publisher_tests_non_polling ${PROJECT_NAME} ${test_msgs_LIBRARIES} ${GMOCK_MAIN_LIBRARIES})
-  target_include_directories(realtime_publisher_tests_non_polling PRIVATE ${test_msgs_INCLUDE_DIRS})
-
-  ament_add_gmock(realtime_publisher_tests test/realtime_publisher.test test/realtime_publisher_tests.cpp)
-  target_link_libraries(realtime_publisher_tests ${PROJECT_NAME} ${test_msgs_LIBRARIES} ${GMOCK_MAIN_LIBRARIES})
-  target_include_directories(realtime_publisher_tests PRIVATE ${test_msgs_INCLUDE_DIRS})
-
-  ament_add_gmock(realtime_server_goal_handle_tests test/realtime_server_goal_handle.test test/realtime_server_goal_handle_tests.cpp)
-  target_link_libraries(realtime_server_goal_handle_tests ${PROJECT_NAME} ${test_msgs_LIBRARIES} ${GMOCK_MAIN_LIBRARIES})
-  target_include_directories(realtime_server_goal_handle_tests PRIVATE ${test_msgs_INCLUDE_DIRS})
+                  test/realtime_publisher_non_polling.test
+                  test/realtime_publisher_tests_non_polling.cpp)
+  target_link_libraries(realtime_publisher_tests_non_polling realtime_tools)
+  ament_target_dependencies(realtime_publisher_tests_non_polling test_msgs)
+
+  ament_add_gmock(realtime_publisher_tests
+                  test/realtime_publisher.test
+                  test/realtime_publisher_tests.cpp)
+  target_link_libraries(realtime_publisher_tests realtime_tools)
+  ament_target_dependencies(realtime_publisher_tests test_msgs)
+
+  ament_add_gmock(realtime_server_goal_handle_tests
+                  test/realtime_server_goal_handle.test
+                  test/realtime_server_goal_handle_tests.cpp)
+  target_link_libraries(realtime_server_goal_handle_tests realtime_tools)
+  ament_target_dependencies(realtime_server_goal_handle_tests test_msgs)
 endif()
 
 # Install
 install(
   DIRECTORY include/
-  DESTINATION include)
-
-install(TARGETS ${PROJECT_NAME} thread_priority
+  DESTINATION include/realtime_tools
+)
+install(TARGETS realtime_tools thread_priority
+  EXPORT export_realtime_tools
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
-
-ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME} thread_priority)
-
-ament_export_dependencies(rclcpp)
-ament_export_dependencies(rclcpp_action)
+  RUNTIME DESTINATION bin
+)
 
+ament_export_targets(export_realtime_tools HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
diff --git a/package.xml b/package.xml
index d3b4422d..11e313f8 100644
--- a/package.xml
+++ b/package.xml
@@ -23,7 +23,6 @@
   <depend>rclcpp_action</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
-  <test_depend>rclcpp_action</test_depend>
   <test_depend>test_msgs</test_depend>
 
   <export>