diff --git a/mcap_vendor/CMakeLists.txt b/mcap_vendor/CMakeLists.txt
index 9902303..b9bc045 100644
--- a/mcap_vendor/CMakeLists.txt
+++ b/mcap_vendor/CMakeLists.txt
@@ -1,6 +1,11 @@
 cmake_minimum_required(VERSION 3.5)
 project(mcap_vendor LANGUAGES C CXX ASM)
 
+## Dependencies
+find_package(ament_cmake REQUIRED)
+find_package(zstd_vendor REQUIRED)
+find_package(zstd REQUIRED)
+
 ## Compile options
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
@@ -11,12 +16,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
 
-## Dependencies
-find_package(ament_cmake REQUIRED)
-find_package(zstd_vendor REQUIRED)
-find_package(zstd REQUIRED)
-
-
 ## Define vendor macro
 macro(build_mcap_vendor)
   include(FetchContent)
@@ -35,48 +34,42 @@ macro(build_mcap_vendor)
   file(GLOB _lz4_srcs
     ${lz4_SOURCE_DIR}/lib/*.c)
 
-  add_library(
-    mcap SHARED
+  add_library(mcap SHARED
     src/main.cpp
     ${_lz4_srcs}
   )
 
   set(_mcap_include_dir ${mcap_SOURCE_DIR}/cpp/mcap/include)
 
-  target_include_directories(mcap SYSTEM PRIVATE
+  target_include_directories(mcap PRIVATE
     ${lz4_SOURCE_DIR}/lib
   )
-  target_include_directories(mcap SYSTEM PUBLIC
+  target_include_directories(mcap PUBLIC
     "$<BUILD_INTERFACE:${_mcap_include_dir}>"
-    "$<INSTALL_INTERFACE:include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
   )
   ament_target_dependencies(mcap zstd)
 
   install(
-    DIRECTORY
-      ${_mcap_include_dir}/mcap
-    DESTINATION
-      ${CMAKE_INSTALL_PREFIX}/include
+    DIRECTORY ${_mcap_include_dir}/mcap
+    DESTINATION include/${PROJECT_NAME}
   )
 
-  install(TARGETS mcap EXPORT export_mcap)
+  install(
+    TARGETS mcap
+    EXPORT mcap
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
 endmacro()
 
 ## Call vendor macro
 build_mcap_vendor()
 
-ament_export_targets(export_mcap HAS_LIBRARY_TARGET)
-
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_targets(mcap HAS_LIBRARY_TARGET)
 ament_export_dependencies(zstd_vendor zstd)
 
-## Tests
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  list(APPEND AMENT_LINT_AUTO_EXCLUDE
-    ament_cmake_uncrustify
-  )
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 ## Package
 ament_package()
diff --git a/mcap_vendor/package.xml b/mcap_vendor/package.xml
index 9c97a65..239ebe9 100644
--- a/mcap_vendor/package.xml
+++ b/mcap_vendor/package.xml
@@ -12,10 +12,6 @@
 
   <depend>zstd_vendor</depend>
 
-  <test_depend>ament_cmake_clang_format</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>