diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e08aa6..cc5a58b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,7 +46,7 @@ target_include_directories(${PROJECT_NAME}
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   PUBLIC $<INSTALL_INTERFACE:include>
 )
-ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${geometry_msgs_TARGETS} ${std_msgs_TARGETS} ${trajectory_msgs_TARGETS} ${visualization_msgs_TARGETS} moveit_core::moveit_collision_detection moveit_ros_planning::kinematics_parameters moveit_ros_planning::moveit_collision_plugin_loader rclcpp::rclcpp tf2_eigen::tf2_eigen tf2_ros::tf2_ros)
 
 # Demo executable
 add_executable(${PROJECT_NAME}_demo
@@ -54,8 +54,8 @@ add_executable(${PROJECT_NAME}_demo
 )
 target_link_libraries(${PROJECT_NAME}_demo
   ${PROJECT_NAME}
+PUBLIC ${geometry_msgs_TARGETS} ${std_msgs_TARGETS} ${trajectory_msgs_TARGETS} ${visualization_msgs_TARGETS} moveit_core::moveit_collision_detection moveit_ros_planning::kinematics_parameters moveit_ros_planning::moveit_collision_plugin_loader rclcpp::rclcpp tf2_eigen::tf2_eigen tf2_ros::tf2_ros
 )
-ament_target_dependencies(${PROJECT_NAME}_demo ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 
 # Exports