diff --git a/pal_statistics/CMakeLists.txt b/pal_statistics/CMakeLists.txt
index 2377719..b57786e 100644
--- a/pal_statistics/CMakeLists.txt
+++ b/pal_statistics/CMakeLists.txt
@@ -2,7 +2,23 @@ cmake_minimum_required(VERSION 3.10)
 project(pal_statistics)
 
 find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+find_package(ament_cmake_python REQUIRED)
+
+set(DEPENDENCIES
+  pal_statistics_msgs
+  rclcpp
+  rclcpp_lifecycle
+)
+
+foreach(Dependency IN ITEMS ${DEPENDENCIES})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+set(TARGET_DEPENDENCIES
+  ${pal_statistics_msgs_TARGETS}
+  rclcpp::rclcpp
+  ${rclcpp_lifecycle_TARGETS}
+)
 
 if(WIN32)
   # set the same behavior for windows as it is on linux
@@ -12,17 +28,28 @@ if(WIN32)
   if(NOT Boost_headers_FOUND)
     find_package(Boost REQUIRED)
   endif()
-endif()
-
-ament_auto_add_library(${PROJECT_NAME} SHARED
-        src/pal_statistics_utils.cpp src/pal_statistics.cpp
-        src/pal_statistics_macros.cpp src/registration_list.cpp)
-if(WIN32)
-  target_link_libraries(${PROJECT_NAME}
-          Boost::boost
+  list(APPEND DEPENDENCIES
+    Boost
+  )
+  list(APPEND TARGET_DEPENDENCIES
+    Boost::boost
   )
 endif()
 
+add_library(${PROJECT_NAME} SHARED
+  src/pal_statistics_utils.cpp src/pal_statistics.cpp
+  src/pal_statistics_macros.cpp src/registration_list.cpp)
+
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ${TARGET_DEPENDENCIES}
+)
+
+
 # ##############################################################################
 # Testing ##
 # ##############################################################################
@@ -48,10 +75,32 @@ endif()
 # Install Python modules
 ament_python_install_package(${PROJECT_NAME})
 
-ament_export_dependencies(Boost)
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
 
-if(ament_cmake_auto_VERSION VERSION_LESS "2.6.0")
-  ament_auto_package(USE_SCOPED_HEADER_INSTALL_DIR)
-else()
-  ament_auto_package()
-endif()
+ament_export_include_directories(
+  "include/${PROJECT_NAME}"
+)
+
+ament_export_libraries(
+  ${PROJECT_NAME}
+)
+
+ament_export_targets(
+  export_${PROJECT_NAME}
+)
+
+ament_export_dependencies(
+  ${DEPENDENCIES}
+)
+
+ament_package()