diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2b76935..19b12bc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -78,7 +78,8 @@ install(
   DESTINATION include/drake)
 
 ament_export_targets(moveit_drakeTargets HAS_LIBRARY_TARGET)
-ament_export_dependencies(moveit_core drake::drake generate_parameter_library)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} drake
+                          generate_parameter_library)
 
 add_subdirectory(demo)
 
diff --git a/demo/src/constrained_planning_demo.cpp b/demo/src/constrained_planning_demo.cpp
index 9eeeb32..fa98ec6 100644
--- a/demo/src/constrained_planning_demo.cpp
+++ b/demo/src/constrained_planning_demo.cpp
@@ -1,7 +1,7 @@
 #include <chrono>
 
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit/move_group_interface/move_group_interface.hpp>
+#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
 #include <moveit_msgs/msg/collision_object.hpp>
 #include <moveit_visual_tools/moveit_visual_tools.h>
 #include <std_msgs/msg/color_rgba.hpp>
diff --git a/demo/src/pipeline_testbench_main.cpp b/demo/src/pipeline_testbench_main.cpp
index dbcb410..3a939b0 100644
--- a/demo/src/pipeline_testbench_main.cpp
+++ b/demo/src/pipeline_testbench_main.cpp
@@ -1,20 +1,21 @@
 #include <rclcpp/rclcpp.hpp>
 #include <memory>
-// MoveitCpp
-#include <moveit/moveit_cpp/moveit_cpp.h>
-#include <moveit/moveit_cpp/planning_component.h>
 
-#include <geometry_msgs/msg/point_stamped.h>
-#include <geometry_msgs/msg/pose.h>
+#include <geometry_msgs/msg/point_stamped.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+
+// MoveitCpp
+#include <moveit/moveit_cpp/moveit_cpp.hpp>
+#include <moveit/moveit_cpp/planning_component.hpp>
 
 #include <moveit_visual_tools/moveit_visual_tools.h>
 
 // Warehouse
-#include <moveit/warehouse/planning_scene_storage.h>
-#include <moveit/warehouse/planning_scene_storage.h>
-#include <moveit/warehouse/state_storage.h>
-#include <moveit/warehouse/constraints_storage.h>
-#include <moveit/warehouse/trajectory_constraints_storage.h>
+#include <moveit/warehouse/planning_scene_storage.hpp>
+#include <moveit/warehouse/planning_scene_storage.hpp>
+#include <moveit/warehouse/state_storage.hpp>
+#include <moveit/warehouse/constraints_storage.hpp>
+#include <moveit/warehouse/trajectory_constraints_storage.hpp>
 #include <warehouse_ros/database_loader.h>
 
 namespace rvt = rviz_visual_tools;
diff --git a/include/ktopt_interface/ktopt_planning_context.hpp b/include/ktopt_interface/ktopt_planning_context.hpp
index 0dd564c..976e074 100644
--- a/include/ktopt_interface/ktopt_planning_context.hpp
+++ b/include/ktopt_interface/ktopt_planning_context.hpp
@@ -1,7 +1,7 @@
 #pragma once
 
-#include <ktopt_moveit_parameters.hpp>
-#include <moveit/planning_interface/planning_interface.h>
+#include <moveit/planning_interface/planning_interface.hpp>
+#include <moveit_drake/ktopt_moveit_parameters.hpp>
 #include <shape_msgs/msg/solid_primitive.h>
 
 // relevant drake includes
diff --git a/include/moveit/drake/conversions.hpp b/include/moveit/drake/conversions.hpp
index fadb983..575f9dd 100644
--- a/include/moveit/drake/conversions.hpp
+++ b/include/moveit/drake/conversions.hpp
@@ -36,8 +36,8 @@
    Desc: TODO
 */
 
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_trajectory/robot_trajectory.hpp>
 
 #include <drake/multibody/parsing/parser.h>
 #include <drake/geometry/scene_graph.h>
diff --git a/src/add_toppra_time_parameterization.cpp b/src/add_toppra_time_parameterization.cpp
index b05e5e6..8339c6c 100644
--- a/src/add_toppra_time_parameterization.cpp
+++ b/src/add_toppra_time_parameterization.cpp
@@ -37,7 +37,7 @@
 */
 
 #include <moveit/drake/conversions.hpp>
-#include <moveit/planning_interface/planning_response_adapter.h>
+#include <moveit/planning_interface/planning_response_adapter.hpp>
 #include <class_loader/class_loader.hpp>
 #include <moveit/utils/logger.hpp>
 
diff --git a/src/ktopt_planner_manager.cpp b/src/ktopt_planner_manager.cpp
index 855931d..33752a4 100644
--- a/src/ktopt_planner_manager.cpp
+++ b/src/ktopt_planner_manager.cpp
@@ -1,7 +1,7 @@
 #include <memory>
-#include <moveit/planning_interface/planning_interface.h>
-#include <moveit/planning_interface/planning_response.h>
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_interface/planning_interface.hpp>
+#include <moveit/planning_interface/planning_response.hpp>
+#include <moveit/planning_scene/planning_scene.hpp>
 #include <moveit/utils/logger.hpp>
 #include <class_loader/class_loader.hpp>
 #include <rclcpp/node.hpp>
diff --git a/src/ktopt_planning_context.cpp b/src/ktopt_planning_context.cpp
index 5f7364a..b588e66 100644
--- a/src/ktopt_planning_context.cpp
+++ b/src/ktopt_planning_context.cpp
@@ -16,11 +16,11 @@
 #include <drake/visualization/visualization_config.h>
 #include <drake/visualization/visualization_config_functions.h>
 
-#include <moveit/constraint_samplers/constraint_sampler_manager.h>
+#include <moveit/constraint_samplers/constraint_sampler_manager.hpp>
 #include <moveit/drake/conversions.hpp>
-#include <moveit/planning_interface/planning_interface.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/robot_state/conversions.h>
+#include <moveit/planning_interface/planning_interface.hpp>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_state/conversions.hpp>
 
 #include <ktopt_interface/ktopt_planning_context.hpp>