diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
index 4d5454430f..0a380d5a13 100644
--- a/controller_interface/CMakeLists.txt
+++ b/controller_interface/CMakeLists.txt
@@ -110,3 +110,4 @@ ament_export_libraries(
   ${PROJECT_NAME}
 )
 ament_package()
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/controller_interface/package.xml b/controller_interface/package.xml
index f2cdfa56d2..2edf44e015 100644
--- a/controller_interface/package.xml
+++ b/controller_interface/package.xml
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <build_depend>hardware_interface</build_depend>
   <build_depend>rclcpp_lifecycle</build_depend>
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 2d46561492..1a53d69bde 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -223,3 +223,4 @@ ament_export_dependencies(
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 ament_package()
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/controller_manager/package.xml b/controller_manager/package.xml
index befcf47907..48290c16c5 100644
--- a/controller_manager/package.xml
+++ b/controller_manager/package.xml
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
index 404fd23101..54474889f8 100644
--- a/hardware_interface/CMakeLists.txt
+++ b/hardware_interface/CMakeLists.txt
@@ -172,3 +172,4 @@ ament_export_libraries(
 )
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml
index 24a9c67fe9..f971de3731 100644
--- a/hardware_interface/package.xml
+++ b/hardware_interface/package.xml
@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <depend>control_msgs</depend>
   <depend>lifecycle_msgs</depend>
diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt
index f67ce32fc1..9356a96ea4 100644
--- a/joint_limits/CMakeLists.txt
+++ b/joint_limits/CMakeLists.txt
@@ -17,6 +17,14 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 
+add_library(joint_limits INTERFACE)
+target_compile_features(joint_limits INTERFACE cxx_std_17)
+target_include_directories(joint_limits INTERFACE
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/joint_limits>
+)
+ament_target_dependencies(joint_limits INTERFACE ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
 install(DIRECTORY include/
   DESTINATION include
 )
@@ -45,8 +53,21 @@ if(BUILD_TESTING)
 
 endif()
 
+install(
+  DIRECTORY include/
+  DESTINATION include/joint_limits
+)
+install(TARGETS joint_limits
+  EXPORT export_joint_limits
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_export_targets(export_joint_limits HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   rclcpp
+  rclcpp_lifecycle
 )
 
 ament_export_include_directories(
@@ -54,3 +75,4 @@ ament_export_include_directories(
 )
 
 ament_package()
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/joint_limits/package.xml b/joint_limits/package.xml
index e3bb18e672..bc2a840efd 100644
--- a/joint_limits/package.xml
+++ b/joint_limits/package.xml
@@ -13,6 +13,7 @@
   <url type="repository">https://github.com/ros-controls/ros2_control</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
diff --git a/transmission_interface/CMakeLists.txt b/transmission_interface/CMakeLists.txt
index 9e8e1e87eb..f7dd4444b3 100644
--- a/transmission_interface/CMakeLists.txt
+++ b/transmission_interface/CMakeLists.txt
@@ -106,3 +106,4 @@ ament_export_libraries(
 )
 
 ament_package()
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/transmission_interface/package.xml b/transmission_interface/package.xml
index 74d7796a4c..673d4868a9 100644
--- a/transmission_interface/package.xml
+++ b/transmission_interface/package.xml
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>