diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index 2488bff8b..d7808c545 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -99,6 +99,7 @@ PRIVATE "RMW_FASTRTPS_CPP_BUILDING_LIBRARY")
 
 # specific order: dependents before dependencies
 ament_export_include_directories(include)
+ament_export_interfaces(export_rmw_fastrtps_cpp)
 ament_export_libraries(rmw_fastrtps_cpp)
 
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
@@ -106,6 +107,10 @@ ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_generator_c)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
+ament_export_dependencies(fastrtps_cmake_module)
+ament_export_dependencies(fastcdr)
+ament_export_dependencies(fastrtps)
+ament_export_dependencies(FastRTPS)
 
 register_rmw_implementation(
   "c:rosidl_typesupport_c:rosidl_typesupport_introspection_c"
@@ -127,6 +132,7 @@ install(
 
 install(
   TARGETS rmw_fastrtps_cpp
+  EXPORT export_rmw_fastrtps_cpp
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
diff --git a/rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake b/rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
index e31fb41d3..2f02db749 100644
--- a/rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
+++ b/rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
@@ -14,11 +14,4 @@
 
 # copied from rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
 
-find_package(fastrtps_cmake_module REQUIRED)
-find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps REQUIRED CONFIG)
-find_package(FastRTPS REQUIRED MODULE)
-
-list(APPEND rmw_fastrtps_cpp_INCLUDE_DIRS ${FastRTPS_INCLUDE_DIR})
-# specific order: dependents before dependencies
-list(APPEND rmw_fastrtps_cpp_LIBRARIES fastrtps fastcdr)
+list(APPEND rmw_fastrtps_cpp_LIBRARIES rmw_fastrtps_cpp::rmw_fastrtps_cpp)