diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index a479fb531..7a086e258 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -117,10 +117,11 @@ configure_rmw_library(rmw_fastrtps_cpp)
 target_compile_definitions(${PROJECT_NAME}
 PRIVATE "RMW_FASTRTPS_CPP_BUILDING_LIBRARY")
 
-# specific order: dependents before dependencies
-ament_export_include_directories(include)
+# Export old-style CMake variables
+ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_libraries(rmw_fastrtps_cpp)
 
+# specific order: dependents before dependencies
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rmw_dds_common)
@@ -159,7 +160,7 @@ ament_package(
 
 install(
   DIRECTORY include/
-  DESTINATION include
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(
diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
index 2d747fd37..de6be2bbe 100644
--- a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -124,10 +124,11 @@ configure_rmw_library(rmw_fastrtps_dynamic_cpp)
 target_compile_definitions(${PROJECT_NAME}
 PRIVATE "RMW_FASTRTPS_DYNAMIC_CPP_BUILDING_LIBRARY")
 
-# specific order: dependents before dependencies
-ament_export_include_directories(include)
+# Export old-style CMake variables
+ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_libraries(rmw_fastrtps_dynamic_cpp)
 
+# specific order: dependents before dependencies
 ament_export_dependencies(rcpputils)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
@@ -169,7 +170,7 @@ ament_package(
 
 install(
   DIRECTORY include/
-  DESTINATION include
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(
diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt
index 6427ea44f..3c30f3101 100644
--- a/rmw_fastrtps_shared_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_shared_cpp/CMakeLists.txt
@@ -93,7 +93,7 @@ add_library(rmw_fastrtps_shared_cpp
 target_include_directories(rmw_fastrtps_shared_cpp
   PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include>")
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(rmw_fastrtps_shared_cpp
   fastcdr fastrtps
 )
@@ -111,11 +111,14 @@ ament_target_dependencies(rmw_fastrtps_shared_cpp
 target_compile_definitions(${PROJECT_NAME}
 PRIVATE "RMW_FASTRTPS_SHARED_CPP_BUILDING_LIBRARY")
 
-# specific order: dependents before dependencies
-ament_export_include_directories(include)
+# Export old-style CMake variables
+ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_libraries(rmw_fastrtps_shared_cpp)
+
+# Export modern CMake targets
 ament_export_targets(rmw_fastrtps_shared_cpp)
 
+# specific order: dependents before dependencies
 ament_export_dependencies(rcpputils)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
@@ -133,7 +136,7 @@ ament_package(
 
 install(
   DIRECTORY include/
-  DESTINATION include
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(