diff --git a/CMakeLists.txt b/CMakeLists.txt
index d1993386..afecb322 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,12 +13,41 @@ endif()
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-ament_python_install_package(${PROJECT_NAME}
-  SETUP_CFG
-    ${PROJECT_NAME}/setup.cfg
-  SCRIPTS_DESTINATION
-    lib/${PROJECT_NAME}
-)
+if(${ament_cmake_python_VERSION} VERSION_GREATER_EQUAL 1.2.0)
+  ament_python_install_package(${PROJECT_NAME}
+    SETUP_CFG
+      ${PROJECT_NAME}/setup.cfg
+    SCRIPTS_DESTINATION
+      lib/${PROJECT_NAME}
+  )
+else()
+  ament_python_install_package(${PROJECT_NAME}
+    SETUP_CFG
+      ${PROJECT_NAME}/setup.cfg
+  )
+
+  set(build_dir "${CMAKE_CURRENT_BINARY_DIR}/ament_cmake_python/${PROJECT_NAME}")
+
+  file(MAKE_DIRECTORY "${build_dir}/scripts")  # setup.py may or may not create it
+
+  add_custom_target(
+    ament_cmake_python_build_${PROJECT_NAME}_scripts ALL
+    COMMAND ${PYTHON_EXECUTABLE} setup.py install_scripts -d scripts
+    WORKING_DIRECTORY "${build_dir}"
+    DEPENDS ${egg_dependencies}
+  )
+
+  if(NOT AMENT_CMAKE_SYMLINK_INSTALL)
+    # Not needed for nor supported by symlink installs
+    set(_extra_install_args USE_SOURCE_PERMISSIONS)
+  endif()
+
+  install(
+    DIRECTORY "${build_dir}/scripts/"
+    DESTINATION "lib/${PROJECT_NAME}/"
+    ${_extra_install_args}
+  )
+endif()
 
 ament_auto_add_library(relay_node SHARED
   src/relay_node.cpp