diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index a16b2f69e..c7e5ad922 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -39,12 +39,6 @@ find_package(rosidl_generator_c REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 
-ament_export_dependencies(rcutils)
-ament_export_dependencies(rmw)
-ament_export_dependencies(rosidl_generator_c)
-ament_export_dependencies(rosidl_typesupport_introspection_c)
-ament_export_dependencies(rosidl_typesupport_introspection_cpp)
-
 include_directories(include)
 
 add_library(rmw_fastrtps_cpp
@@ -105,6 +99,12 @@ PRIVATE "RMW_FASTRTPS_CPP_BUILDING_LIBRARY")
 ament_export_include_directories(include)
 ament_export_libraries(rmw_fastrtps_cpp)
 
+ament_export_dependencies(rosidl_typesupport_introspection_cpp)
+ament_export_dependencies(rosidl_typesupport_introspection_c)
+ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rcutils)
+ament_export_dependencies(rmw)
+
 register_rmw_implementation(
   "c:rosidl_typesupport_c:rosidl_typesupport_introspection_c"
   "cpp:rosidl_typesupport_cpp:rosidl_typesupport_introspection_cpp")
@@ -115,7 +115,7 @@ if(BUILD_TESTING)
 endif()
 
 ament_package(
-  CONFIG_EXTRAS "rmw_fastrtps_cpp-extras.cmake"
+  CONFIG_EXTRAS_POST "rmw_fastrtps_cpp-extras.cmake"
 )
 
 install(
diff --git a/rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake b/rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
index 6991ce4ac..5924d3216 100644
--- a/rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
+++ b/rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
@@ -20,4 +20,4 @@ find_package(fastrtps REQUIRED CONFIG)
 find_package(FastRTPS REQUIRED MODULE)
 
 list(APPEND rmw_fastrtps_cpp_INCLUDE_DIRS ${FastRTPS_INCLUDE_DIR})
-list(APPEND rmw_fastrtps_cpp_LIBRARIES fastcdr fastrtps)
+list(APPEND rmw_fastrtps_cpp_LIBRARIES fastrtps fastcdr)