diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
index f039cf5d42..3be30b2853 100644
--- a/nav2_costmap_2d/CMakeLists.txt
+++ b/nav2_costmap_2d/CMakeLists.txt
@@ -26,17 +26,10 @@ find_package(visualization_msgs REQUIRED)
 find_package(angles REQUIRED)
 
 remove_definitions(-DDISABLE_LIBUSB-1.0)
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 3.3 REQUIRED)
 
 nav2_package()
 
-include_directories(
-  include
-  ${EIGEN3_INCLUDE_DIRS}
-)
-
-add_definitions(${EIGEN3_DEFINITIONS})
-
 add_library(nav2_costmap_2d_core SHARED
   src/array_parser.cpp
   src/costmap_2d.cpp
@@ -52,6 +45,13 @@ add_library(nav2_costmap_2d_core SHARED
   src/footprint_collision_checker.cpp
   plugins/costmap_filters/costmap_filter.cpp
 )
+add_library(${PROJECT_NAME}::nav2_costmap_2d_core ALIAS nav2_costmap_2d_core)
+
+target_include_directories(nav2_costmap_2d_core
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
 
 set(dependencies
   geometry_msgs
@@ -79,6 +79,7 @@ set(dependencies
 ament_target_dependencies(nav2_costmap_2d_core
   ${dependencies}
 )
+target_link_libraries(nav2_costmap_2d_core Eigen3::Eigen)
 
 add_library(layers SHARED
   plugins/inflation_layer.cpp
@@ -89,11 +90,12 @@ add_library(layers SHARED
   plugins/range_sensor_layer.cpp
   plugins/denoise_layer.cpp
 )
+add_library(${PROJECT_NAME}::layers ALIAS layers)
 ament_target_dependencies(layers
   ${dependencies}
 )
 target_link_libraries(layers
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 add_library(filters SHARED
@@ -101,11 +103,14 @@ add_library(filters SHARED
   plugins/costmap_filters/speed_filter.cpp
   plugins/costmap_filters/binary_filter.cpp
 )
+add_library(${PROJECT_NAME}::filters ALIAS filters)
+
+
 ament_target_dependencies(filters
   ${dependencies}
 )
 target_link_libraries(filters
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 add_library(nav2_costmap_2d_client SHARED
@@ -113,18 +118,19 @@ add_library(nav2_costmap_2d_client SHARED
   src/costmap_subscriber.cpp
   src/costmap_topic_collision_checker.cpp
 )
+add_library(${PROJECT_NAME}::nav2_costmap_2d_client ALIAS nav2_costmap_2d_client)
 
 ament_target_dependencies(nav2_costmap_2d_client
   ${dependencies}
 )
 
 target_link_libraries(nav2_costmap_2d_client
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 add_executable(nav2_costmap_2d_markers src/costmap_2d_markers.cpp)
 target_link_libraries(nav2_costmap_2d_markers
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_target_dependencies(nav2_costmap_2d_markers
@@ -133,7 +139,7 @@ ament_target_dependencies(nav2_costmap_2d_markers
 
 add_executable(nav2_costmap_2d_cloud src/costmap_2d_cloud.cpp)
 target_link_libraries(nav2_costmap_2d_cloud
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 add_executable(nav2_costmap_2d src/costmap_2d_node.cpp)
@@ -142,26 +148,24 @@ ament_target_dependencies(nav2_costmap_2d
 )
 
 target_link_libraries(nav2_costmap_2d
-  nav2_costmap_2d_core
-  layers
-  filters
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::layers
+  ${PROJECT_NAME}::filters
 )
 
 install(TARGETS
-  nav2_costmap_2d_core
   layers
   filters
+  nav2_costmap_2d_core
   nav2_costmap_2d_client
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
-install(TARGETS
-  nav2_costmap_2d
-  nav2_costmap_2d_markers
-  nav2_costmap_2d_cloud
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+install(TARGETS nav2_costmap_2d_markers nav2_costmap_2d_cloud nav2_costmap_2d
+  DESTINATION lib/${PROJECT_NAME}
 )
 
 install(FILES costmap_plugins.xml
@@ -169,7 +173,7 @@ install(FILES costmap_plugins.xml
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
@@ -184,8 +188,7 @@ if(BUILD_TESTING)
   pluginlib_export_plugin_description_file(nav2_costmap_2d test/regression/order_layer.xml)
 endif()
 
-ament_export_include_directories(include)
-ament_export_libraries(layers filters nav2_costmap_2d_core nav2_costmap_2d_client)
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${dependencies})
 pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml)
 ament_package()
diff --git a/nav2_costmap_2d/test/integration/CMakeLists.txt b/nav2_costmap_2d/test/integration/CMakeLists.txt
index ef0b148440..5d33caa63f 100644
--- a/nav2_costmap_2d/test/integration/CMakeLists.txt
+++ b/nav2_costmap_2d/test/integration/CMakeLists.txt
@@ -1,67 +1,49 @@
 ament_add_gtest_executable(footprint_tests_exec
   footprint_tests.cpp
 )
-ament_target_dependencies(footprint_tests_exec
-  ${dependencies}
-)
 target_link_libraries(footprint_tests_exec
-  nav2_costmap_2d_core
-  layers
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest_executable(test_collision_checker_exec
   test_costmap_topic_collision_checker.cpp
 )
-ament_target_dependencies(test_collision_checker_exec
-  ${dependencies}
-)
 target_link_libraries(test_collision_checker_exec
-  nav2_costmap_2d_core
-  nav2_costmap_2d_client
-  layers
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_client
+  ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest_executable(inflation_tests_exec
   inflation_tests.cpp
 )
-ament_target_dependencies(inflation_tests_exec
-  ${dependencies}
-)
 target_link_libraries(inflation_tests_exec
-  nav2_costmap_2d_core
-  layers
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest_executable(obstacle_tests_exec
   obstacle_tests.cpp
 )
-ament_target_dependencies(obstacle_tests_exec
-  ${dependencies}
-)
 target_link_libraries(obstacle_tests_exec
-  nav2_costmap_2d_core
-  layers
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest_executable(range_tests_exec
   range_tests.cpp
 )
-ament_target_dependencies(range_tests_exec
-  ${dependencies}
-)
 target_link_libraries(range_tests_exec
-  nav2_costmap_2d_core
-  layers
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest(dyn_params_tests
   dyn_params_tests.cpp
 )
-ament_target_dependencies(dyn_params_tests
-  ${dependencies}
-)
 target_link_libraries(dyn_params_tests
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_test(test_collision_checker
@@ -123,6 +105,6 @@ ament_add_test(range_tests
 #   ${dependencies}
 # )
 # target_link_libraries(costmap_tester
-#   nav2_costmap_2d_core
+#   ${PROJECT_NAME}::nav2_costmap_2d_core
 #   layers
 # )
diff --git a/nav2_costmap_2d/test/regression/CMakeLists.txt b/nav2_costmap_2d/test/regression/CMakeLists.txt
index 78fbfa6cf7..aafc4d561b 100644
--- a/nav2_costmap_2d/test/regression/CMakeLists.txt
+++ b/nav2_costmap_2d/test/regression/CMakeLists.txt
@@ -1,7 +1,7 @@
 # Bresenham2D corner cases test
 ament_add_gtest(costmap_bresenham_2d costmap_bresenham_2d.cpp)
 target_link_libraries(costmap_bresenham_2d
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 # OrderLayer for checking Costmap2D plugins API calling order
@@ -11,7 +11,7 @@ ament_target_dependencies(order_layer
   ${dependencies}
 )
 target_link_libraries(order_layer
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 install(TARGETS
   order_layer
@@ -23,5 +23,5 @@ install(TARGETS
 # Costmap2D plugins API calling order test
 ament_add_gtest(plugin_api_order plugin_api_order.cpp)
 target_link_libraries(plugin_api_order
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
diff --git a/nav2_costmap_2d/test/unit/CMakeLists.txt b/nav2_costmap_2d/test/unit/CMakeLists.txt
index 19c2edb56f..3f2f100d7a 100644
--- a/nav2_costmap_2d/test/unit/CMakeLists.txt
+++ b/nav2_costmap_2d/test/unit/CMakeLists.txt
@@ -5,53 +5,54 @@ target_link_libraries(array_parser_test
 
 ament_add_gtest(collision_footprint_test footprint_collision_checker_test.cpp)
 target_link_libraries(collision_footprint_test
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(costmap_convesion_test costmap_conversion_test.cpp)
 target_link_libraries(costmap_convesion_test
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(declare_parameter_test declare_parameter_test.cpp)
 target_link_libraries(declare_parameter_test
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(costmap_filter_test costmap_filter_test.cpp)
 target_link_libraries(costmap_filter_test
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(keepout_filter_test keepout_filter_test.cpp)
 target_link_libraries(keepout_filter_test
-  nav2_costmap_2d_core
-  filters
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::filters
 )
 
 ament_add_gtest(speed_filter_test speed_filter_test.cpp)
 target_link_libraries(speed_filter_test
-  nav2_costmap_2d_core
-  filters
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::filters
 )
 
 ament_add_gtest(binary_filter_test binary_filter_test.cpp)
 target_link_libraries(binary_filter_test
-  nav2_costmap_2d_core
-  filters
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::filters
 )
 
 ament_add_gtest(copy_window_test copy_window_test.cpp)
 target_link_libraries(copy_window_test
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(costmap_filter_service_test costmap_filter_service_test.cpp)
 target_link_libraries(costmap_filter_service_test
-  nav2_costmap_2d_core
+  ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(denoise_layer_test denoise_layer_test.cpp image_test.cpp image_processing_test.cpp)
 target_link_libraries(denoise_layer_test
-  nav2_costmap_2d_core layers
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::layers
 )