diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt
index d9da9fd1474..e2a90a06eff 100644
--- a/nav2_smac_planner/CMakeLists.txt
+++ b/nav2_smac_planner/CMakeLists.txt
@@ -4,29 +4,23 @@ project(nav2_smac_planner)
 set(CMAKE_BUILD_TYPE Release) #Debug, Release
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(angles REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(nav2_common REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
-find_package(nav2_util REQUIRED)
 find_package(nav2_core REQUIRED)
-find_package(nav2_msgs REQUIRED)
-find_package(nav_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(tf2_ros REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(eigen3_cmake_module REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(angles REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(nlohmann_json REQUIRED)
 find_package(ompl REQUIRED)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(visualization_msgs REQUIRED)
 
 if(MSVC)
   add_compile_definitions(_USE_MATH_DEFINES)
@@ -34,107 +28,144 @@ else()
   add_compile_options(-O3 -Wextra -Wdeprecated -fPIC)
 endif()
 
-include_directories(
-  include
-  ${OMPL_INCLUDE_DIRS}
-)
-
 set(library_name nav2_smac_planner)
 
-set(dependencies
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  std_msgs
-  visualization_msgs
-  nav2_util
-  nav2_msgs
-  nav_msgs
-  geometry_msgs
-  builtin_interfaces
-  tf2_ros
-  nav2_costmap_2d
-  nav2_core
-  pluginlib
-  angles
-  eigen3_cmake_module
-)
-
-# Hybrid plugin
-add_library(${library_name} SHARED
-  src/smac_planner_hybrid.cpp
+# Common library
+add_library(${library_name}_common SHARED
   src/a_star.cpp
-  src/collision_checker.cpp
-  src/smoother.cpp
   src/analytic_expansion.cpp
-  src/node_hybrid.cpp
-  src/node_lattice.cpp
+  src/collision_checker.cpp
   src/costmap_downsampler.cpp
   src/node_2d.cpp
   src/node_basic.cpp
+  src/node_hybrid.cpp
+  src/node_lattice.cpp
+  src/smoother.cpp
+)
+target_include_directories(${library_name}_common
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    ${OMPL_INCLUDE_DIRS}
+)
+target_link_libraries(${library_name}_common PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::layers
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav_msgs_TARGETS}
+  nlohmann_json::nlohmann_json
+  ${OMPL_LIBRARIES}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2::tf2
+  ${visualization_msgs_TARGETS}
+)
+target_link_libraries(${library_name}_common PRIVATE
+  angles::angles
 )
 
-target_link_libraries(${library_name} ${OMPL_LIBRARIES})
-target_include_directories(${library_name} PUBLIC ${Eigen3_INCLUDE_DIRS})
-
-ament_target_dependencies(${library_name}
-  ${dependencies}
+# Hybrid plugin
+add_library(${library_name} SHARED
+  src/smac_planner_hybrid.cpp
+)
+target_include_directories(${library_name}
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    ${OMPL_INCLUDE_DIRS}
+)
+target_link_libraries(${library_name} PUBLIC
+  ${library_name}_common
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav_msgs_TARGETS}
+  nlohmann_json::nlohmann_json
+  ${OMPL_LIBRARIES}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  ${visualization_msgs_TARGETS}
+)
+target_link_libraries(${library_name} PRIVATE
+  pluginlib::pluginlib
 )
 
 # 2D plugin
 add_library(${library_name}_2d SHARED
   src/smac_planner_2d.cpp
-  src/a_star.cpp
-  src/smoother.cpp
-  src/collision_checker.cpp
-  src/analytic_expansion.cpp
-  src/node_hybrid.cpp
-  src/node_lattice.cpp
-  src/costmap_downsampler.cpp
-  src/node_2d.cpp
-  src/node_basic.cpp
 )
-
-target_link_libraries(${library_name}_2d ${OMPL_LIBRARIES})
-target_include_directories(${library_name}_2d PUBLIC ${Eigen3_INCLUDE_DIRS})
-
-ament_target_dependencies(${library_name}_2d
-  ${dependencies}
+target_include_directories(${library_name}_2d
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    ${OMPL_INCLUDE_DIRS}
+)
+target_link_libraries(${library_name}_2d PUBLIC
+  ${library_name}_common
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav_msgs_TARGETS}
+  nlohmann_json::nlohmann_json
+  ${OMPL_LIBRARIES}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  ${visualization_msgs_TARGETS}
+)
+target_link_libraries(${library_name}_2d PRIVATE
+  pluginlib::pluginlib
 )
 
 # Lattice plugin
 add_library(${library_name}_lattice SHARED
   src/smac_planner_lattice.cpp
-  src/a_star.cpp
-  src/smoother.cpp
-  src/collision_checker.cpp
-  src/analytic_expansion.cpp
-  src/node_hybrid.cpp
-  src/node_lattice.cpp
-  src/costmap_downsampler.cpp
-  src/node_2d.cpp
-  src/node_basic.cpp
 )
-
-target_link_libraries(${library_name}_lattice ${OMPL_LIBRARIES})
-target_include_directories(${library_name}_lattice PUBLIC ${Eigen3_INCLUDE_DIRS})
-
-ament_target_dependencies(${library_name}_lattice
-  ${dependencies}
+target_include_directories(${library_name}_lattice
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    ${OMPL_INCLUDE_DIRS}
+)
+target_link_libraries(${library_name}_lattice PUBLIC
+  ${library_name}_common
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav_msgs_TARGETS}
+  nlohmann_json::nlohmann_json
+  ${OMPL_LIBRARIES}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  ${visualization_msgs_TARGETS}
+)
+target_link_libraries(${library_name}_lattice PRIVATE
+  ament_index_cpp::ament_index_cpp
+  pluginlib::pluginlib
 )
 
 pluginlib_export_plugin_description_file(nav2_core smac_plugin_hybrid.xml)
 pluginlib_export_plugin_description_file(nav2_core smac_plugin_2d.xml)
 pluginlib_export_plugin_description_file(nav2_core smac_plugin_lattice.xml)
 
-install(TARGETS ${library_name} ${library_name}_2d ${library_name}_lattice
+install(TARGETS ${library_name}_common ${library_name} ${library_name}_2d ${library_name}_lattice
+  EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(DIRECTORY lattice_primitives/sample_primitives DESTINATION share/${PROJECT_NAME})
@@ -144,10 +175,25 @@ if(BUILD_TESTING)
   set(AMENT_LINT_AUTO_FILE_EXCLUDE include/nav2_smac_planner/thirdparty/robin_hood.h)
   ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
+  ament_find_gtest()
   add_subdirectory(test)
 endif()
 
-ament_export_include_directories(include ${OMPL_INCLUDE_DIRS})
+ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_libraries(${library_name} ${library_name}_2d ${library_name}_lattice)
-ament_export_dependencies(${dependencies})
+ament_export_dependencies(
+  geometry_msgs
+  nav2_core
+  nav2_costmap_2d
+  nav_msgs
+  nlohmann_json
+  ompl
+  rclcpp
+  rclcpp_lifecycle
+  rcl_interfaces
+  tf2
+  tf2_ros
+  visualization_msgs
+)
+ament_export_targets(${PROJECT_NAME})
 ament_package()
diff --git a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
index c95d8c82cff..a3ae1f6c7b2 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
@@ -16,14 +16,12 @@
 #ifndef NAV2_SMAC_PLANNER__A_STAR_HPP_
 #define NAV2_SMAC_PLANNER__A_STAR_HPP_
 
-#include <vector>
-#include <iostream>
-#include <unordered_map>
+#include <functional>
 #include <memory>
 #include <queue>
-#include <utility>
 #include <tuple>
-#include "Eigen/Core"
+#include <utility>
+#include <vector>
 
 #include "nav2_costmap_2d/costmap_2d.hpp"
 #include "nav2_core/planner_exceptions.hpp"
diff --git a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
index 76719d72313..c4d3deccda7 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
@@ -15,10 +15,11 @@
 #ifndef NAV2_SMAC_PLANNER__ANALYTIC_EXPANSION_HPP_
 #define NAV2_SMAC_PLANNER__ANALYTIC_EXPANSION_HPP_
 
-#include <string>
-#include <vector>
+#include <functional>
 #include <list>
 #include <memory>
+#include <string>
+#include <vector>
 
 #include "nav2_smac_planner/node_2d.hpp"
 #include "nav2_smac_planner/node_hybrid.hpp"
diff --git a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp
index 205c3f0471a..5b31ee87cd2 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
-#include <vector>
 #include <memory>
+#include <vector>
 
 #include "nav2_costmap_2d/footprint_collision_checker.hpp"
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
diff --git a/nav2_smac_planner/include/nav2_smac_planner/costmap_downsampler.hpp b/nav2_smac_planner/include/nav2_smac_planner/costmap_downsampler.hpp
index 332507d7c2a..21189170298 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/costmap_downsampler.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/costmap_downsampler.hpp
@@ -15,9 +15,8 @@
 #ifndef NAV2_SMAC_PLANNER__COSTMAP_DOWNSAMPLER_HPP_
 #define NAV2_SMAC_PLANNER__COSTMAP_DOWNSAMPLER_HPP_
 
-#include <algorithm>
-#include <string>
 #include <memory>
+#include <string>
 
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
 #include "nav2_smac_planner/constants.hpp"
diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp
index 3ccadefdedb..2ef090fe498 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp
@@ -15,14 +15,10 @@
 #ifndef NAV2_SMAC_PLANNER__NODE_2D_HPP_
 #define NAV2_SMAC_PLANNER__NODE_2D_HPP_
 
-#include <math.h>
-#include <vector>
-#include <iostream>
-#include <memory>
-#include <queue>
-#include <limits>
-#include <utility>
 #include <functional>
+#include <memory>
+#include <stdexcept>
+#include <vector>
 
 #include "nav2_smac_planner/types.hpp"
 #include "nav2_smac_planner/constants.hpp"
diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp
index dfb26c5ddaf..d7b7d72409f 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp
@@ -15,18 +15,6 @@
 #ifndef NAV2_SMAC_PLANNER__NODE_BASIC_HPP_
 #define NAV2_SMAC_PLANNER__NODE_BASIC_HPP_
 
-#include <math.h>
-#include <vector>
-#include <cmath>
-#include <iostream>
-#include <functional>
-#include <queue>
-#include <memory>
-#include <utility>
-#include <limits>
-
-#include "ompl/base/StateSpace.h"
-
 #include "nav2_smac_planner/constants.hpp"
 #include "nav2_smac_planner/node_hybrid.hpp"
 #include "nav2_smac_planner/node_lattice.hpp"
diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp
index b67ed978ec8..cf6a9a6e89e 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp
@@ -15,15 +15,10 @@
 #ifndef NAV2_SMAC_PLANNER__NODE_HYBRID_HPP_
 #define NAV2_SMAC_PLANNER__NODE_HYBRID_HPP_
 
-#include <math.h>
-#include <vector>
-#include <cmath>
-#include <iostream>
 #include <functional>
-#include <queue>
 #include <memory>
 #include <utility>
-#include <limits>
+#include <vector>
 
 #include "ompl/base/StateSpace.h"
 
diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
index f31ccb9b0d2..f3e3ff37f9a 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
@@ -15,21 +15,12 @@
 #ifndef NAV2_SMAC_PLANNER__NODE_LATTICE_HPP_
 #define NAV2_SMAC_PLANNER__NODE_LATTICE_HPP_
 
-#include <math.h>
-
-#include <vector>
-#include <cmath>
-#include <iostream>
 #include <functional>
-#include <queue>
 #include <memory>
-#include <utility>
-#include <limits>
 #include <string>
+#include <vector>
 
-#include "nlohmann/json.hpp"
 #include "ompl/base/StateSpace.h"
-#include "angles/angles.h"
 
 #include "nav2_smac_planner/constants.hpp"
 #include "nav2_smac_planner/types.hpp"
diff --git a/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp b/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp
index d896cd90b5f..89ecc0b0926 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp
@@ -15,22 +15,14 @@
 #ifndef NAV2_SMAC_PLANNER__SMOOTHER_HPP_
 #define NAV2_SMAC_PLANNER__SMOOTHER_HPP_
 
-#include <cmath>
 #include <vector>
-#include <iostream>
-#include <memory>
-#include <queue>
-#include <utility>
 
 #include "nav2_costmap_2d/costmap_2d.hpp"
 #include "nav2_smac_planner/types.hpp"
 #include "nav2_smac_planner/constants.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav_msgs/msg/path.hpp"
-#include "angles/angles.h"
-#include "tf2/utils.h"
 #include "ompl/base/StateSpace.h"
-#include "ompl/base/spaces/DubinsStateSpace.h"
 
 namespace nav2_smac_planner
 {
diff --git a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp
index fb020a729a1..89cb2f8dc77 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp
@@ -21,7 +21,6 @@
 #include <string>
 
 #include "nlohmann/json.hpp"
-#include "Eigen/Core"
 #include "geometry_msgs/msg/quaternion.hpp"
 #include "geometry_msgs/msg/pose.hpp"
 #include "tf2/utils.h"
diff --git a/nav2_smac_planner/package.xml b/nav2_smac_planner/package.xml
index 0a1303bd682..d73d553496b 100644
--- a/nav2_smac_planner/package.xml
+++ b/nav2_smac_planner/package.xml
@@ -8,31 +8,29 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
-  <depend>rclcpp</depend>
-  <depend>rclcpp_action</depend>
-  <depend>rclcpp_lifecycle</depend>
-  <depend>visualization_msgs</depend>
-  <depend>nav2_util</depend>
-  <depend>nav2_msgs</depend>
-  <depend>nav_msgs</depend>
+  <depend>ament_index_cpp</depend>
+  <depend>angles</depend>
+  <depend>eigen</depend>
   <depend>geometry_msgs</depend>
-  <depend>builtin_interfaces</depend>
-  <depend>nav2_common</depend>
-  <depend>tf2_ros</depend>
-  <depend>nav2_costmap_2d</depend>
   <depend>nav2_core</depend>
-  <depend>pluginlib</depend>
-  <depend>eigen3_cmake_module</depend>
-  <depend>eigen</depend>
-  <depend>ompl</depend>
+  <depend>nav2_costmap_2d</depend>
+  <depend>nav2_util</depend>
+  <depend>nav_msgs</depend>
   <depend>nlohmann-json-dev</depend>
-  <depend>angles</depend>
+  <depend>ompl</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>rcl_interfaces</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2</depend>
+  <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_cmake_pytest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp
index f3ddc9adb80..6c794b9a987 100644
--- a/nav2_smac_planner/src/node_lattice.cpp
+++ b/nav2_smac_planner/src/node_lattice.cpp
@@ -12,16 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
-#include <math.h>
+#include <algorithm>
 #include <chrono>
-#include <vector>
+#include <cmath>
+#include <fstream>
+#include <limits>
 #include <memory>
-#include <algorithm>
 #include <queue>
-#include <limits>
 #include <string>
-#include <fstream>
-#include <cmath>
+#include <vector>
+
+#include "angles/angles.h"
 
 #include "ompl/base/ScopedState.h"
 #include "ompl/base/spaces/DubinsStateSpace.h"
diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp
index 5ba10d7d9a0..15491c051ea 100644
--- a/nav2_smac_planner/src/smac_planner_hybrid.cpp
+++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp
@@ -19,7 +19,6 @@
 #include <algorithm>
 #include <limits>
 
-#include "Eigen/Core"
 #include "nav2_smac_planner/smac_planner_hybrid.hpp"
 
 // #define BENCHMARK_TESTING
diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp
index c5a9ecdff60..ebeead9c5c4 100644
--- a/nav2_smac_planner/src/smac_planner_lattice.cpp
+++ b/nav2_smac_planner/src/smac_planner_lattice.cpp
@@ -18,7 +18,6 @@
 #include <algorithm>
 #include <limits>
 
-#include "Eigen/Core"
 #include "nav2_smac_planner/smac_planner_lattice.hpp"
 
 // #define BENCHMARK_TESTING
diff --git a/nav2_smac_planner/src/smoother.cpp b/nav2_smac_planner/src/smoother.cpp
index a69e14011f3..fb43f4a1215 100644
--- a/nav2_smac_planner/src/smoother.cpp
+++ b/nav2_smac_planner/src/smoother.cpp
@@ -14,8 +14,15 @@
 
 #include <ompl/base/ScopedState.h>
 #include <ompl/base/spaces/DubinsStateSpace.h>
-#include <vector>
+
+#include <chrono>
 #include <memory>
+#include <vector>
+
+#include "angles/angles.h"
+
+#include "tf2/utils.h"
+
 #include "nav2_smac_planner/smoother.hpp"
 
 namespace nav2_smac_planner
diff --git a/nav2_smac_planner/test/CMakeLists.txt b/nav2_smac_planner/test/CMakeLists.txt
index 8039cf9c51e..fc4abf20c75 100644
--- a/nav2_smac_planner/test/CMakeLists.txt
+++ b/nav2_smac_planner/test/CMakeLists.txt
@@ -2,128 +2,136 @@
 ament_add_gtest(test_utils
   test_utils.cpp
 )
-ament_target_dependencies(test_utils
-  ${dependencies}
-)
 target_link_libraries(test_utils
   ${library_name}
+  ${geometry_msgs_TARGETS}
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
 )
 
 # Test costmap downsampler
 ament_add_gtest(test_costmap_downsampler
   test_costmap_downsampler.cpp
 )
-ament_target_dependencies(test_costmap_downsampler
-  ${dependencies}
-)
 target_link_libraries(test_costmap_downsampler
   ${library_name}
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
 )
 
 # Test Node2D
 ament_add_gtest(test_node2d
   test_node2d.cpp
 )
-ament_target_dependencies(test_node2d
-  ${dependencies}
-)
 target_link_libraries(test_node2d
   ${library_name}
+  nav2_costmap_2d::nav2_costmap_2d_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Test NodeHybrid
 ament_add_gtest(test_nodehybrid
   test_nodehybrid.cpp
 )
-ament_target_dependencies(test_nodehybrid
-  ${dependencies}
-)
 target_link_libraries(test_nodehybrid
   ${library_name}
+  nav2_costmap_2d::nav2_costmap_2d_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Test NodeBasic
 ament_add_gtest(test_nodebasic
   test_nodebasic.cpp
 )
-ament_target_dependencies(test_nodebasic
-  ${dependencies}
-)
 target_link_libraries(test_nodebasic
   ${library_name}
+  rclcpp::rclcpp
 )
 
 # Test collision checker
 ament_add_gtest(test_collision_checker
   test_collision_checker.cpp
 )
-ament_target_dependencies(test_collision_checker
-  ${dependencies}
-)
 target_link_libraries(test_collision_checker
   ${library_name}
+  ${geometry_msgs_TARGETS}
+  nav2_costmap_2d::nav2_costmap_2d_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Test A*
 ament_add_gtest(test_a_star
   test_a_star.cpp
 )
-ament_target_dependencies(test_a_star
-  ${dependencies}
-)
 target_link_libraries(test_a_star
   ${library_name}
+  ament_index_cpp::ament_index_cpp
+  nav2_costmap_2d::nav2_costmap_2d_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Test SMAC Hybrid
 ament_add_gtest(test_smac_hybrid
   test_smac_hybrid.cpp
 )
-ament_target_dependencies(test_smac_hybrid
-  ${dependencies}
-)
 target_link_libraries(test_smac_hybrid
   ${library_name}
+  ${geometry_msgs_TARGETS}
+  nav2_costmap_2d::nav2_costmap_2d_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Test SMAC 2D
 ament_add_gtest(test_smac_2d
   test_smac_2d.cpp
 )
-ament_target_dependencies(test_smac_2d
-  ${dependencies}
-)
 target_link_libraries(test_smac_2d
   ${library_name}_2d
+  ${geometry_msgs_TARGETS}
+  nav2_costmap_2d::nav2_costmap_2d_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Test SMAC lattice
 ament_add_gtest(test_smac_lattice
   test_smac_lattice.cpp
 )
-ament_target_dependencies(test_smac_lattice
-  ${dependencies}
-)
 target_link_libraries(test_smac_lattice
   ${library_name}_lattice
+  ${geometry_msgs_TARGETS}
+  nav2_costmap_2d::nav2_costmap_2d_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Test SMAC Smoother
 ament_add_gtest(test_smoother
   test_smoother.cpp
 )
-ament_target_dependencies(test_smoother
-  ${dependencies}
-)
 target_link_libraries(test_smoother
   ${library_name}_lattice
   ${library_name}
   ${library_name}_2d
+  ament_index_cpp::ament_index_cpp
+  ${geometry_msgs_TARGETS}
+  nav2_costmap_2d::nav2_costmap_2d_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
-#Test Lattice node
+# Test Lattice node
 ament_add_gtest(test_lattice_node test_nodelattice.cpp)
-
-ament_target_dependencies(test_lattice_node ${dependencies})
-
-target_link_libraries(test_lattice_node ${library_name})
+target_link_libraries(test_lattice_node
+  ${library_name}
+  ament_index_cpp::ament_index_cpp
+  nav2_costmap_2d::nav2_costmap_2d_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+)
diff --git a/nav2_smac_planner/test/test_collision_checker.cpp b/nav2_smac_planner/test/test_collision_checker.cpp
index dd4e032a51e..92590bd945f 100644
--- a/nav2_smac_planner/test/test_collision_checker.cpp
+++ b/nav2_smac_planner/test/test_collision_checker.cpp
@@ -19,7 +19,6 @@
 
 #include "gtest/gtest.h"
 #include "nav2_smac_planner/collision_checker.hpp"
-#include "nav2_util/lifecycle_node.hpp"
 
 using namespace nav2_costmap_2d;  // NOLINT
 
diff --git a/nav2_smac_planner/test/test_nodebasic.cpp b/nav2_smac_planner/test/test_nodebasic.cpp
index 00aea824650..544842cec68 100644
--- a/nav2_smac_planner/test/test_nodebasic.cpp
+++ b/nav2_smac_planner/test/test_nodebasic.cpp
@@ -19,9 +19,6 @@
 
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
-#include "nav2_costmap_2d/costmap_2d.hpp"
-#include "nav2_costmap_2d/costmap_subscriber.hpp"
-#include "nav2_util/lifecycle_node.hpp"
 #include "nav2_smac_planner/node_basic.hpp"
 #include "nav2_smac_planner/node_2d.hpp"
 #include "nav2_smac_planner/node_hybrid.hpp"