diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 9853e5c..a814b7c 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package dynamixel_hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.4.5 (2025-05-30)
+------------------
+* Deprecate ament_include_dependency usage in CMakeLists.txt
+* Contributors: Wonho Yun
+
 1.4.4 (2025-05-28)
 ------------------
 * Added proper command interface support with ROS2-Dynamixel interface mapping
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9bb8354..347ae7a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(realtime_tools REQUIRED)
 
@@ -40,17 +41,22 @@ target_include_directories(
   ${PROJECT_NAME}
   PRIVATE
   include
+  ${dynamixel_sdk_INCLUDE_DIRS}
+  ${hardware_interface_INCLUDE_DIRS}
+  ${realtime_tools_INCLUDE_DIRS}
+  ${rclcpp_lifecycle_INCLUDE_DIRS}
 )
 
-ament_target_dependencies(
-  ${PROJECT_NAME}
-  hardware_interface
-  pluginlib
-  rclcpp
-  dynamixel_sdk
-  std_srvs
-  dynamixel_interfaces
-  realtime_tools
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC
+  ${hardware_interface_TARGETS}
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${dynamixel_sdk_TARGETS}
+  ${std_srvs_TARGETS}
+  ${dynamixel_interfaces_TARGETS}
+  ${realtime_tools_TARGETS}
 )
 
 pluginlib_export_plugin_description_file(hardware_interface dynamixel_hardware_interface_plugin.xml)
@@ -92,11 +98,11 @@ ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 ament_export_dependencies(
   rclcpp
+  rclcpp_lifecycle
   hardware_interface
   pluginlib
   dynamixel_sdk
   dynamixel_interfaces
-  aimbot_log_interfaces
 )
 
 ament_package()
diff --git a/package.xml b/package.xml
index a4ff2a1..4afa107 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dynamixel_hardware_interface</name>
-  <version>1.4.4</version>
+  <version>1.4.5</version>
   <description>
     ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
   </description>