diff --git a/gazebo_plugins/CMakeLists.txt b/gazebo_plugins/CMakeLists.txt
index 1ae4e78d3..aa46f5f4d 100644
--- a/gazebo_plugins/CMakeLists.txt
+++ b/gazebo_plugins/CMakeLists.txt
@@ -29,23 +29,13 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 
-include_directories(include
-  ${gazebo_dev_INCLUDE_DIRS}
-  ${gazebo_ros_INCLUDE_DIRS}
-  ${geometry_msgs_INCLUDE_DIRS}
-  ${image_transport_INCLUDE_DIRS}
-  ${cv_bridge_INCLUDE_DIRS}
-  ${nav_msgs_INCLUDE_DIRS}
-  ${sensor_msgs_INCLUDE_DIRS}
-  ${tf2_ros_INCLUDE_DIRS}
-  ${tf2_INCLUDE_DIRS}
-)
 link_directories(${gazebo_dev_LIBRARY_DIRS})
 
 # gazebo_ros_joint_state_publisher
 add_library(gazebo_ros_joint_state_publisher SHARED
   src/gazebo_ros_joint_state_publisher.cpp
 )
+target_include_directories(gazebo_ros_joint_state_publisher PUBLIC include)
 ament_target_dependencies(gazebo_ros_joint_state_publisher
   "gazebo_dev"
   "gazebo_ros"
@@ -58,6 +48,7 @@ ament_export_libraries(gazebo_ros_joint_state_publisher)
 add_library(gazebo_ros_diff_drive SHARED
   src/gazebo_ros_diff_drive.cpp
 )
+target_include_directories(gazebo_ros_diff_drive PUBLIC include)
 ament_target_dependencies(gazebo_ros_diff_drive
   "gazebo_dev"
   "gazebo_ros"
@@ -74,6 +65,7 @@ ament_export_libraries(gazebo_ros_diff_drive)
 add_library(gazebo_ros_force SHARED
   src/gazebo_ros_force.cpp
 )
+target_include_directories(gazebo_ros_force PUBLIC include)
 ament_target_dependencies(gazebo_ros_force
   "gazebo_dev"
   "gazebo_ros"
@@ -86,6 +78,7 @@ ament_export_libraries(gazebo_ros_force)
 add_library(gazebo_ros_template SHARED
   src/gazebo_ros_template.cpp
 )
+target_include_directories(gazebo_ros_template PUBLIC include)
 ament_target_dependencies(gazebo_ros_template
   "gazebo_dev"
   "gazebo_ros"
@@ -97,6 +90,7 @@ ament_export_libraries(gazebo_ros_template)
 add_library(multi_camera_plugin SHARED
   src/multi_camera_plugin.cpp
 )
+target_include_directories(multi_camera_plugin PUBLIC include)
 ament_target_dependencies(multi_camera_plugin
   "gazebo_dev"
 )
@@ -111,6 +105,7 @@ target_compile_definitions(multi_camera_plugin
 add_library(gazebo_ros_camera SHARED
   src/gazebo_ros_camera.cpp
 )
+target_include_directories(gazebo_ros_camera PUBLIC include)
 ament_target_dependencies(gazebo_ros_camera
   "camera_info_manager"
   "gazebo_dev"
@@ -131,6 +126,7 @@ ament_export_libraries(gazebo_ros_camera)
 add_library(gazebo_ros_imu_sensor SHARED
   src/gazebo_ros_imu_sensor.cpp
 )
+target_include_directories(gazebo_ros_imu_sensor PUBLIC include)
 ament_target_dependencies(gazebo_ros_imu_sensor
   "gazebo_ros"
   "sensor_msgs"
@@ -146,6 +142,7 @@ ament_export_libraries(gazebo_ros_imu_sensor)
 add_library(gazebo_ros_gps_sensor SHARED
   src/gazebo_ros_gps_sensor.cpp
 )
+target_include_directories(gazebo_ros_gps_sensor PUBLIC include)
 ament_target_dependencies(gazebo_ros_gps_sensor
   "gazebo_ros"
   "sensor_msgs"
@@ -157,6 +154,7 @@ ament_export_libraries(gazebo_ros_gps_sensor)
 add_library(gazebo_ros_ray_sensor SHARED
   src/gazebo_ros_ray_sensor.cpp
 )
+target_include_directories(gazebo_ros_ray_sensor PUBLIC include)
 ament_target_dependencies(gazebo_ros_ray_sensor
   "gazebo_ros"
   "sensor_msgs"
@@ -166,6 +164,7 @@ ament_export_libraries(gazebo_ros_ray_sensor)
 add_library(gazebo_ros_p3d SHARED
   src/gazebo_ros_p3d.cpp
 )
+target_include_directories(gazebo_ros_p3d PUBLIC include)
 ament_target_dependencies(gazebo_ros_p3d
   "gazebo_ros"
   "gazebo_dev"
@@ -182,6 +181,7 @@ ament_export_libraries(gazebo_ros_p3d)
 add_library(gazebo_ros_tricycle_drive SHARED
   src/gazebo_ros_tricycle_drive.cpp
 )
+target_include_directories(gazebo_ros_tricycle_drive PUBLIC include)
 ament_target_dependencies(gazebo_ros_tricycle_drive
   "gazebo_ros"
   "geometry_msgs"
@@ -198,8 +198,10 @@ ament_export_libraries(gazebo_ros_tricycle_drive)
 add_library(gazebo_ros_video SHARED
   src/gazebo_ros_video.cpp
 )
+target_include_directories(gazebo_ros_video PUBLIC include)
 ament_target_dependencies(gazebo_ros_video
   "gazebo_ros"
+  "image_transport"
   "sensor_msgs"
   "cv_bridge"
 )
@@ -209,6 +211,7 @@ ament_export_libraries(gazebo_ros_video)
 add_library(gazebo_ros_ft_sensor SHARED
   src/gazebo_ros_ft_sensor.cpp
 )
+target_include_directories(gazebo_ros_ft_sensor PUBLIC include)
 ament_target_dependencies(gazebo_ros_ft_sensor
   "gazebo_ros"
   "gazebo_dev"
@@ -221,6 +224,7 @@ ament_export_libraries(gazebo_ros_ft_sensor)
 add_library(gazebo_ros_bumper SHARED
   src/gazebo_ros_bumper.cpp
 )
+target_include_directories(gazebo_ros_bumper PUBLIC include)
 ament_target_dependencies(gazebo_ros_bumper
   "gazebo_ros"
   "gazebo_msgs"
@@ -232,6 +236,7 @@ ament_export_libraries(gazebo_ros_bumper)
 add_library(gazebo_ros_harness SHARED
   src/gazebo_ros_harness.cpp
 )
+target_include_directories(gazebo_ros_harness PUBLIC include)
 ament_target_dependencies(gazebo_ros_harness
   "gazebo_dev"
   "gazebo_ros"
@@ -247,6 +252,7 @@ ament_export_libraries(gazebo_ros_harness)
 add_library(gazebo_ros_hand_of_god SHARED
   src/gazebo_ros_hand_of_god.cpp
 )
+target_include_directories(gazebo_ros_hand_of_god PUBLIC include)
 ament_target_dependencies(gazebo_ros_hand_of_god
   "gazebo_ros"
   "gazebo_dev"
@@ -261,6 +267,7 @@ ament_export_libraries(gazebo_ros_hand_of_god)
 add_library(gazebo_ros_ackermann_drive SHARED
   src/gazebo_ros_ackermann_drive.cpp
 )
+target_include_directories(gazebo_ros_ackermann_drive PUBLIC include)
 ament_target_dependencies(gazebo_ros_ackermann_drive
   "gazebo_dev"
   "gazebo_ros"
@@ -277,6 +284,7 @@ ament_export_libraries(gazebo_ros_ackermann_drive)
 add_library(gazebo_ros_elevator SHARED
   src/gazebo_ros_elevator.cpp
 )
+target_include_directories(gazebo_ros_elevator PUBLIC include)
 ament_target_dependencies(gazebo_ros_elevator
   "gazebo_ros"
   "gazebo_dev"
@@ -292,6 +300,7 @@ ament_export_libraries(gazebo_ros_elevator)
 add_library(gazebo_ros_vacuum_gripper SHARED
   src/gazebo_ros_vacuum_gripper.cpp
 )
+target_include_directories(gazebo_ros_vacuum_gripper PUBLIC include)
 ament_target_dependencies(gazebo_ros_vacuum_gripper
   "gazebo_ros"
   "gazebo_dev"
@@ -305,6 +314,7 @@ ament_export_libraries(gazebo_ros_vacuum_gripper)
 add_library(gazebo_ros_joint_pose_trajectory SHARED
   src/gazebo_ros_joint_pose_trajectory.cpp
 )
+target_include_directories(gazebo_ros_joint_pose_trajectory PUBLIC include)
 ament_target_dependencies(gazebo_ros_joint_pose_trajectory
   "gazebo_dev"
   "gazebo_ros"
@@ -317,6 +327,7 @@ ament_export_libraries(gazebo_ros_joint_pose_trajectory)
 add_library(gazebo_ros_planar_move SHARED
   src/gazebo_ros_planar_move.cpp
 )
+target_include_directories(gazebo_ros_planar_move PUBLIC include)
 ament_target_dependencies(gazebo_ros_planar_move
   "gazebo_dev"
   "gazebo_ros"
@@ -332,6 +343,7 @@ ament_export_libraries(gazebo_ros_planar_move)
 add_library(gazebo_ros_projector SHARED
   src/gazebo_ros_projector.cpp
 )
+target_include_directories(gazebo_ros_projector PUBLIC include)
 ament_target_dependencies(gazebo_ros_projector
   "gazebo_ros"
   "gazebo_dev"