diff --git a/source/How-To-Guides/Ament-CMake-Documentation.rst b/source/How-To-Guides/Ament-CMake-Documentation.rst
index c4ef1cff994..1c04304a270 100644
--- a/source/How-To-Guides/Ament-CMake-Documentation.rst
+++ b/source/How-To-Guides/Ament-CMake-Documentation.rst
@@ -29,7 +29,7 @@ The basic outline of the ``CMakeLists.txt`` of an ament package contains:
 
 .. code-block:: cmake
 
-   cmake_minimum_required(VERSION 3.5)
+   cmake_minimum_required(VERSION 3.8)
    project(my_project)
 
    ament_package()
@@ -74,14 +74,14 @@ The following best practice is proposed:
 
 - only cpp files are explicitly referenced in the call to ``add_library`` or ``add_executable``
 
-- allow to find headers via
+- find headers via
 
 .. code-block:: cmake
 
     target_include_directories(my_target
       PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-        $<INSTALL_INTERFACE:include>)
+        "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+        "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 
 This adds all files in the folder ``${CMAKE_CURRENT_SOURCE_DIR}/include`` to the public interface during build time and all files in the include folder (relative to ``${CMAKE_INSTALL_DIR}``) when being installed.
 
@@ -98,7 +98,7 @@ As an example, suppose we want to link ``my_target`` against the linear algebra
 .. code-block:: cmake
 
     find_package(Eigen3 REQUIRED)
-    ament_target_dependencies(my_target Eigen3)
+    ament_target_dependencies(my_library PUBLIC Eigen3::Eigen)
 
 It includes the necessary headers and libraries and their dependencies to be correctly found by the project.
 It will also ensure that the include directories of all dependencies are ordered correctly when using overlay workspaces.
@@ -109,14 +109,13 @@ The recommended way in modern CMake is to only use targets, exporting and linkin
 CMake targets are namespaced, similar to C++.
 For instance, ``Eigen3`` defines the target ``Eigen3::Eigen``.
 
-At least until ``Crystal Clemmys`` target names are not supported in the ``ament_target_dependencies`` macro.
 Sometimes it will be necessary to call the ``target_link_libaries`` CMake function.
 In the example of Eigen3, the call should then look like
 
 .. code-block:: cmake
 
     find_package(Eigen3 REQUIRED)
-    target_link_libraries(my_target Eigen3::Eigen)
+    target_link_libraries(my_target PUBLIC Eigen3::Eigen)
 
 This will also include necessary headers, libraries and their dependencies, but in contrast to ``ament_target_dependencies`` it might not correctly order the dependencies when using overlay workspaces.
 
@@ -130,25 +129,32 @@ Building a Library
 
 When building a reusable library, some information needs to be exported for downstream packages to easily use it.
 
-.. code-block:: cmake
+First, install the headers files which should be available to clients.
 
-    ament_export_targets(my_libraryTargets HAS_LIBRARY_TARGET)
-    ament_export_dependencies(some_dependency)
+.. code-block:: cmake
 
     install(
       DIRECTORY include/
-      DESTINATION include
+      DESTINATION include/${PROJECT_NAME}
     )
 
+Next, install the targets and create the export set ``export_${PROJECT_NAME}``.
+The include directory is custom to support overlays in ``colcon``.
+
+Add all the libraries for your project to the ``TARGETS`` argument.
+
+.. code-block:: cmake
+
     install(
       TARGETS my_library
-      EXPORT my_libraryTargets
+      EXPORT export_${PROJECT_NAME}
       LIBRARY DESTINATION lib
       ARCHIVE DESTINATION lib
       RUNTIME DESTINATION bin
-      INCLUDES DESTINATION include
     )
 
+    ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+    ament_export_dependencies(some_dependency)
 
 Here, we assume that the folder ``include`` contains the headers which need to be exported.
 Note that it is not necessary to put all headers into a separate folder, only those that should be included by clients.
@@ -156,22 +162,17 @@ Note that it is not necessary to put all headers into a separate folder, only th
 Here is what's happening in the snippet above:
 
 - The ``ament_export_targets`` macro exports the targets for CMake.
-  This is necessary to allow your library's clients to use the ``target_link_libraries(client my_library::my_library)`` syntax.
-  ``ament_export_targets`` can take an arbitrary list of targets named as ``EXPORT`` in an install call and an additional option ``HAS_LIBRARY_TARGET``, which adds potential libraries to environment variables.
+  This is necessary to allow your library's clients to use the ``target_link_libraries(client PRIVATE my_library::my_library)`` syntax.
+  If the export set includes a library,  add the option ``HAS_LIBRARY_TARGET`` to  ``ament_export_targets``, which adds potential libraries to environment variables.
 
 - The ``ament_export_dependencies`` exports dependencies to downstream packages.
   This is necessary so that the user of the library does not have to call ``find_package`` for those dependencies, too.
 
-- The first ``install`` commands installs the header files which should be available to clients.
-
 .. warning::
 
    Calling ``ament_export_targets``, ``ament_export_dependencies``, or other ament commands from a CMake subdirectory will not work as expected.
    This is because the CMake subdirectory has no way of setting necessary variables in the parent scope where ``ament_package`` is called.
 
-- The last large install command installs the library.
-  Archive and library files will be exported to the lib folder, runtime binaries will be installed to the bin folder and the path to installed headers is ``include``.
-
 .. note::
 
    Windows DLLs are treated as runtime artifacts and installed into the ``RUNTIME DESTINATION`` folder.