diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt
index 17071ad226..9b4136d012 100644
--- a/moveit_ros/planning/CMakeLists.txt
+++ b/moveit_ros/planning/CMakeLists.txt
@@ -49,8 +49,6 @@ set(THIS_PACKAGE_LIBRARIES
     moveit_collision_plugin_loader
     moveit_constraint_sampler_manager_loader
     moveit_cpp
-    moveit_default_planning_request_adapter_plugins
-    moveit_default_planning_response_adapter_plugins
     moveit_kinematics_plugin_loader
     moveit_plan_execution
     moveit_planning_pipeline
@@ -111,6 +109,16 @@ install(
   INCLUDES
   DESTINATION include/moveit_ros_planning)
 
+# install plugins as separate export set
+install(
+  TARGETS moveit_default_planning_response_adapter_plugins
+          moveit_default_planning_request_adapter_plugins
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES
+  DESTINATION include/moveit_ros_planning)
+
 ament_export_targets(moveit_ros_planningTargets HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})