diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index 98b2bc77c5..093a25b475 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -78,7 +78,7 @@ set(${PROJECT_NAME}_sources
 add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources})
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+  "$<INSTALL_INTERFACE:include>")
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
   "rcl_interfaces"
@@ -129,13 +129,11 @@ install(
 # This is overwritten each loop, but which one it points to doesn't really matter.
 set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
+# specific order: dependents before dependencies
+ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
-# Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})
 
-# specific order: dependents before dependencies
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)
 ament_export_dependencies(rcl_logging_interface)
@@ -168,5 +166,5 @@ install(
 )
 install(
   DIRECTORY include/
-  DESTINATION include/${PROJECT_NAME}
+  DESTINATION include
 )
diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt
index cbe7583e34..b75606f6e4 100644
--- a/rcl_action/CMakeLists.txt
+++ b/rcl_action/CMakeLists.txt
@@ -45,7 +45,7 @@ add_library(${PROJECT_NAME}
 
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+  "$<INSTALL_INTERFACE:include>")
 
 ament_target_dependencies(${PROJECT_NAME}
   "action_msgs"
@@ -62,7 +62,7 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_ACTION_BUILDING_DLL")
 
 install(
   DIRECTORY include/
-  DESTINATION include/${PROJECT_NAME}
+  DESTINATION include
 )
 
 install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
@@ -85,6 +85,7 @@ if(BUILD_TESTING)
   )
   if(TARGET test_action_client)
     target_include_directories(test_action_client PUBLIC
+      include
       src
     )
     target_link_libraries(test_action_client
@@ -118,6 +119,9 @@ if(BUILD_TESTING)
         PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
         target_compile_definitions(${target}${target_suffix}
           PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
+      target_include_directories(${target}${target_suffix} PUBLIC
+        include
+      )
       target_link_libraries(${target}${target_suffix}
         ${PROJECT_NAME}
       )
@@ -147,6 +151,7 @@ if(BUILD_TESTING)
   )
   if(TARGET test_action_server)
     target_include_directories(test_action_server PUBLIC
+      include
       src
     )
     target_link_libraries(test_action_server
@@ -163,6 +168,9 @@ if(BUILD_TESTING)
     test/rcl_action/test_goal_handle.cpp
   )
   if(TARGET test_goal_handle)
+    target_include_directories(test_goal_handle PUBLIC
+      include
+    )
     target_link_libraries(test_goal_handle
       ${PROJECT_NAME}
     )
@@ -181,6 +189,9 @@ if(BUILD_TESTING)
     test/rcl_action/test_types.cpp
   )
   if(TARGET test_types)
+    target_include_directories(test_types PUBLIC
+      include
+    )
     target_link_libraries(test_types
       ${PROJECT_NAME}
     )
@@ -213,14 +224,10 @@ if(BUILD_TESTING)
   endif()
 endif()
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
+# specific order: dependents before dependencies
+ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
-
-# Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})
-
-# specific order: dependents before dependencies
 ament_export_dependencies(action_msgs)
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl)
diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt
index 1df5c512fa..39e0dc5055 100644
--- a/rcl_lifecycle/CMakeLists.txt
+++ b/rcl_lifecycle/CMakeLists.txt
@@ -45,7 +45,7 @@ add_library(
 
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+  "$<INSTALL_INTERFACE:include>")
 
 # specific order: dependents before dependencies
 ament_target_dependencies(rcl_lifecycle
@@ -125,14 +125,10 @@ if(BUILD_TESTING)
   endif()
 endif()
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
+# specific order: dependents before dependencies
+ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
-
-# Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})
-
-# specific order: dependents before dependencies
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(lifecycle_msgs)
 ament_export_dependencies(rcl)
@@ -143,4 +139,4 @@ ament_package()
 
 install(
   DIRECTORY include/
-  DESTINATION include/${PROJECT_NAME})
+  DESTINATION include)
diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
index 96ef1b3ee9..397f662ae9 100644
--- a/rcl_yaml_param_parser/CMakeLists.txt
+++ b/rcl_yaml_param_parser/CMakeLists.txt
@@ -33,7 +33,7 @@ add_library(
   ${rcl_yaml_parser_sources})
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+  "$<INSTALL_INTERFACE:include>")
 ament_target_dependencies(${PROJECT_NAME} "libyaml_vendor" "rcutils" "rmw")
 
 # Set the visibility to hidden by default if possible
@@ -185,17 +185,13 @@ if(BUILD_TESTING)
   endif()
 endif()
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
-ament_export_libraries(${PROJECT_NAME})
-
-# Export modern CMake targets
-ament_export_targets(${PROJECT_NAME})
-
 ament_export_dependencies(ament_cmake libyaml_vendor)
 ament_export_dependencies(rmw)
+ament_export_include_directories(include)
 install(
   DIRECTORY include/
-  DESTINATION include/${PROJECT_NAME}
+  DESTINATION include
 )
+ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(${PROJECT_NAME})
 ament_package()