diff --git a/CMakeLists.txt b/CMakeLists.txt
index 80f9eef25..1a490b6ab 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -84,7 +84,8 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 add_definitions(-DQT_NO_KEYWORDS)
 find_package(Boost REQUIRED system serialization filesystem thread)
 
-include_directories(include ${EIGEN3_INCLUDE_DIRS}
+include_directories(include lib/karto_sdk/include
+                            ${EIGEN3_INCLUDE_DIRS}
                             ${CHOLMOD_INCLUDE_DIR}
                             ${Boost_INCLUDE_DIRS}
                             ${TBB_INCLUDE_DIRS}
diff --git a/include/slam_toolbox/get_pose_helper.hpp b/include/slam_toolbox/get_pose_helper.hpp
index 4ddcfe665..28c41d51e 100644
--- a/include/slam_toolbox/get_pose_helper.hpp
+++ b/include/slam_toolbox/get_pose_helper.hpp
@@ -22,7 +22,7 @@
 #include <string>
 #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
 #include "slam_toolbox/toolbox_types.hpp"
-#include "../lib/karto_sdk/include/karto_sdk/Mapper.h"
+#include "karto_sdk/Mapper.h"
 
 namespace pose_utils
 {
diff --git a/include/slam_toolbox/serialization.hpp b/include/slam_toolbox/serialization.hpp
index 7d1aaaae4..42d52f481 100644
--- a/include/slam_toolbox/serialization.hpp
+++ b/include/slam_toolbox/serialization.hpp
@@ -23,7 +23,7 @@
 #include <vector>
 #include <string>
 #include "rclcpp/rclcpp.hpp"
-#include "../lib/karto_sdk/include/karto_sdk/Mapper.h"
+#include "karto_sdk/Mapper.h"
 
 namespace serialization
 {
diff --git a/include/slam_toolbox/toolbox_types.hpp b/include/slam_toolbox/toolbox_types.hpp
index f9e6b20c4..8216d01c6 100644
--- a/include/slam_toolbox/toolbox_types.hpp
+++ b/include/slam_toolbox/toolbox_types.hpp
@@ -27,8 +27,7 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
 #include "tf2/transform_datatypes.h"
 
-// god... getting this to work in ROS2 was a real pain
-#include "../lib/karto_sdk/include/karto_sdk/Mapper.h"
+#include "karto_sdk/Mapper.h"
 #include "slam_toolbox/toolbox_msgs.hpp"
 
 // compute linear index for given map coords
diff --git a/lib/karto_sdk/CMakeLists.txt b/lib/karto_sdk/CMakeLists.txt
index be14006e4..99b8135d6 100644
--- a/lib/karto_sdk/CMakeLists.txt
+++ b/lib/karto_sdk/CMakeLists.txt
@@ -18,8 +18,7 @@ set(dependencies
   rclcpp
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS} 
-                            ${EIGEN3_INCLUDE_DIRS} 
+include_directories(include ${EIGEN3_INCLUDE_DIRS} 
                             ${Boost_INCLUDE_DIR}
                             ${BOOST_INCLUDE_DIRS}
                             ${TBB_INCLUDE_DIRS}
@@ -27,7 +26,7 @@ include_directories(include ${catkin_INCLUDE_DIRS}
 
 add_definitions(${EIGEN3_DEFINITIONS})
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+include_directories(include ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp)
 ament_target_dependencies(kartoSlamToolbox ${dependencies})
 target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} ${TBB_LIBRARIES})
diff --git a/solvers/ceres_solver.hpp b/solvers/ceres_solver.hpp
index b2757414f..162b55950 100644
--- a/solvers/ceres_solver.hpp
+++ b/solvers/ceres_solver.hpp
@@ -13,13 +13,12 @@
 #include <unordered_map>
 #include <utility>
 #include <cmath>
-// god... getting this to work in ROS2 was a real pain
-#include "../lib/karto_sdk/include/karto_sdk/Mapper.h"
+#include "karto_sdk/Mapper.h"
 #include "solvers/ceres_utils.h"
 
 #include "rclcpp/rclcpp.hpp"
 #include "std_srvs/srv/empty.hpp"
-#include "../include/slam_toolbox/toolbox_types.hpp"
+#include "slam_toolbox/toolbox_types.hpp"
 
 namespace solver_plugins
 {