diff --git a/CMakeLists.txt b/CMakeLists.txt
index b42af969..0da52adc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,22 +16,24 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(angles REQUIRED)
-find_package(rclcpp REQUIRED)
+find_package(Boost REQUIRED)
+find_package(builtin_interfaces REQUIRED)
 find_package(diagnostic_msgs REQUIRED)
 find_package(diagnostic_updater REQUIRED)
+find_package(Eigen3 REQUIRED)
 find_package(geographic_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(nav_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(Boost REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
@@ -57,12 +59,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   ADD_LINTER_TESTS
 )
 
-include_directories(SYSTEM ${Eigen_INCLUDE_DIRS})
-include_directories(
-  include
-  ${EIGEN3_INCLUDE_DIRS}
-  ${Boost_INCLUDE_DIRS}
-)
+rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
 
 add_library(
   ${library_name}
@@ -75,95 +72,69 @@ add_library(
   src/ros_filter.cpp
   src/ros_filter_utilities.cpp
   src/ros_robot_localization_listener.cpp)
-
-rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
-target_link_libraries(${library_name} "${cpp_typesupport_target}")
-
-add_executable(
-  ekf_node
-  src/ekf_node.cpp
+target_include_directories(${library_name} PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-
-add_executable(
-  ukf_node
-  src/ukf_node.cpp
-)
-
-add_executable(
-  navsat_transform_node
-  src/navsat_transform_node.cpp
+target_link_libraries(${library_name} PUBLIC
+  Boost::boost
+  "${cpp_typesupport_target}"
+  Eigen3::Eigen
+  angles::angles
+  ${diagnostic_msgs_TARGETS}
+  diagnostic_updater::diagnostic_updater
+  ${geographic_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  message_filters::message_filters
+  ${nav_msgs_TARGETS}
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
+  ${std_msgs_TARGETS}
+  ${std_srvs_TARGETS}
+  tf2::tf2
+  tf2_eigen::tf2_eigen
+  tf2_geometry_msgs::tf2_geometry_msgs
+  tf2_ros::tf2_ros
 )
-
-add_executable(
-  robot_localization_listener_node
-  src/robot_localization_listener_node.cpp
-)
-
-target_link_libraries(
-  ${library_name}
+target_link_libraries(${library_name} PRIVATE
   ${GeographicLib_LIBRARIES}
-  ${EIGEN3_LIBRARIES}
   yaml-cpp::yaml-cpp
 )
 
-ament_target_dependencies(
-  ${library_name}
-  angles
-  diagnostic_msgs
-  diagnostic_updater
-  geographic_msgs
-  geometry_msgs
-  message_filters
-  nav_msgs
-  rclcpp
-  sensor_msgs
-  std_msgs
-  std_srvs
-  tf2
-  tf2_eigen
-  tf2_geometry_msgs
-  tf2_ros
-  yaml_cpp_vendor
-)
-
-target_link_libraries(
-  ekf_node
-  ${library_name}
-)
-
-ament_target_dependencies(
+add_executable(
   ekf_node
-  rclcpp
+  src/ekf_node.cpp
 )
-
-target_link_libraries(
-  ukf_node
+target_link_libraries(ekf_node PRIVATE
   ${library_name}
+  rclcpp::rclcpp
 )
 
-ament_target_dependencies(
+add_executable(
   ukf_node
-  rclcpp
+  src/ukf_node.cpp
 )
-
-target_link_libraries(
-  navsat_transform_node
+target_link_libraries(ukf_node PRIVATE
   ${library_name}
+  rclcpp::rclcpp
 )
 
-ament_target_dependencies(
+add_executable(
   navsat_transform_node
-  rclcpp
+  src/navsat_transform_node.cpp
 )
-
-target_link_libraries(
-  robot_localization_listener_node
+target_link_libraries(navsat_transform_node PRIVATE
   ${library_name}
+  rclcpp::rclcpp
 )
 
-ament_target_dependencies(
+add_executable(
   robot_localization_listener_node
-  rclcpp
+  src/robot_localization_listener_node.cpp
+)
+target_link_libraries(robot_localization_listener_node PRIVATE
+  ${library_name}
+  rclcpp::rclcpp
 )
 
 if(BUILD_TESTING)
@@ -174,6 +145,8 @@ if(BUILD_TESTING)
   find_package(ament_cmake_uncrustify REQUIRED)
   find_package(launch_testing_ament_cmake REQUIRED)
 
+  ament_find_gtest()
+
   #### FILTER BASE TESTS ####
   ament_add_gtest(filter_base-test test/test_filter_base.cpp)
   target_link_libraries(filter_base-test ${library_name})
@@ -183,7 +156,6 @@ if(BUILD_TESTING)
                     test/test_filter_base_diagnostics_timestamps.cpp)
   target_link_libraries(test_filter_base_diagnostics_timestamps ${library_name})
 
-  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
   target_link_libraries(test_filter_base_diagnostics_timestamps "${cpp_typesupport_target}")
 
   add_dependencies(test_filter_base_diagnostics_timestamps ekf_node)
@@ -292,7 +264,8 @@ if(BUILD_TESTING)
 
   #### NAVSAT CONVERSION TESTS ####
   ament_add_gtest(test_navsat_conversions test/test_navsat_conversions.cpp)
-  target_link_libraries(test_navsat_conversions ${library_name})
+  target_include_directories(test_navsat_conversions PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>")
+  target_link_libraries(test_navsat_conversions ${library_name} ${GeographicLib_LIBRARIES})
 
   ament_add_gtest_executable(test_ros_robot_localization_listener
                   test/test_ros_robot_localization_listener.cpp)
@@ -355,6 +328,7 @@ install(
 )
 
 install(TARGETS ${library_name}
+  EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -373,7 +347,27 @@ install(DIRECTORY
   USE_SOURCE_PERMISSIONS
 )
 
-ament_export_include_directories(include)
+ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_libraries(${library_name})
-ament_export_dependencies(rosidl_default_runtime)
+ament_export_dependencies(
+  angles
+  Boost
+  diagnostic_msgs
+  diagnostic_updater
+  Eigen3
+  geographic_msgs
+  geometry_msgs
+  message_filters
+  nav_msgs
+  rclcpp
+  rosidl_default_runtime
+  sensor_msgs
+  std_msgs
+  std_srvs
+  tf2
+  tf2_eigen
+  tf2_geometry_msgs
+  tf2_ros
+)
+ament_export_targets(${PROJECT_NAME})
 ament_package()
diff --git a/package.xml b/package.xml
index 2a21be7c..7a95045f 100644
--- a/package.xml
+++ b/package.xml
@@ -5,7 +5,7 @@
   <version>3.9.0</version>
   <description>Provides nonlinear state estimation through sensor fusion of an abritrary number of sensors.</description>
 
-  <author email="ayrton04@gmail.com">Tom Moore</author> 
+  <author email="ayrton04@gmail.com">Tom Moore</author>
   <maintainer email="ayrton04@gmail.com">Tom Moore</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
 
@@ -20,17 +20,17 @@
   <build_depend>libboost-dev</build_depend>
   <build_export_depend>libboost-dev</build_export_depend>
 
+  <depend>angles</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>diagnostic_msgs</depend>
+  <depend>diagnostic_updater</depend>
   <depend>eigen</depend>
   <depend>geographic_msgs</depend>
   <depend>geometry_msgs</depend>
-  <depend>diagnostic_msgs</depend>
-  <depend>diagnostic_updater</depend>
   <depend>geographiclib</depend>
   <depend>message_filters</depend>
   <depend>nav_msgs</depend>
-  <depend>angles</depend>
-  <build_depend>rclcpp</build_depend>
-  <build_depend>rmw_implementation</build_depend>
+  <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
@@ -40,18 +40,14 @@
   <depend>tf2_ros</depend>
   <depend>yaml_cpp_vendor</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>builtin_interfaces</test_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
-  
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>rmw_implementation</exec_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>launch_ros</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
-  
+
   <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
diff --git a/include/robot_localization/navsat_conversions.hpp b/src/navsat_conversions.hpp
similarity index 97%
rename from include/robot_localization/navsat_conversions.hpp
rename to src/navsat_conversions.hpp
index 5253af59..4ede4ca9 100644
--- a/include/robot_localization/navsat_conversions.hpp
+++ b/src/navsat_conversions.hpp
@@ -36,8 +36,8 @@
 * https://github.com/austin-robot/utexas-art-ros-pkg/blob/afd147a1eb944fc3dbd138574c39699813f797bf/stacks/art_vehicle/art_common/include/art/UTM.h
 * https://github.com/austin-robot/utexas-art-ros-pkg/blob/afd147a1eb944fc3dbd138574c39699813f797bf/stacks/art_vehicle/art_common/include/art/conversions.h
 */
-#ifndef ROBOT_LOCALIZATION__NAVSAT_CONVERSIONS_HPP_
-#define ROBOT_LOCALIZATION__NAVSAT_CONVERSIONS_HPP_
+#ifndef NAVSAT_CONVERSIONS_HPP_
+#define NAVSAT_CONVERSIONS_HPP_
 
 /**  @file
 
@@ -222,4 +222,4 @@ static inline void UTMtoLL(
 }  // namespace navsat_conversions
 }  // namespace robot_localization
 
-#endif  // ROBOT_LOCALIZATION__NAVSAT_CONVERSIONS_HPP_
+#endif  // NAVSAT_CONVERSIONS_HPP_
diff --git a/src/navsat_transform.cpp b/src/navsat_transform.cpp
index c8799266..4272c43b 100644
--- a/src/navsat_transform.cpp
+++ b/src/navsat_transform.cpp
@@ -43,7 +43,7 @@
 #include "rclcpp/qos.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "robot_localization/filter_common.hpp"
-#include "robot_localization/navsat_conversions.hpp"
+#include "navsat_conversions.hpp"
 #include "robot_localization/ros_filter_utilities.hpp"
 #include "robot_localization/srv/from_ll.hpp"
 #include "robot_localization/srv/set_datum.hpp"
diff --git a/test/test_navsat_conversions.cpp b/test/test_navsat_conversions.cpp
index 4b386bfe..f1e4123e 100644
--- a/test/test_navsat_conversions.cpp
+++ b/test/test_navsat_conversions.cpp
@@ -34,7 +34,7 @@
 
 #include <string>
 
-#include "robot_localization/navsat_conversions.hpp"
+#include "navsat_conversions.hpp"
 
 void NavsatConversionsTest(
   const double lat, const double lon,