diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index a2244cf38..cbc267792 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -12,7 +12,6 @@ find_package(rmw_implementation REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 find_package(tracetools REQUIRED)
 
-include_directories(include)
 include(cmake/rcl_set_symbol_visibility_hidden.cmake)
 include(cmake/get_default_rcl_logging_implementation.cmake)
 get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
@@ -64,6 +63,9 @@ set(${PROJECT_NAME}_sources
 )
 
 add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources})
+target_include_directories(${PROJECT_NAME} PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
   "rcl_interfaces"
@@ -82,7 +84,7 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
 rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
 
 install(
-  TARGETS ${PROJECT_NAME}
+  TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
@@ -96,6 +98,7 @@ set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
 # specific order: dependents before dependencies
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(${PROJECT_NAME})
 
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)