diff --git a/CMakeLists.txt b/CMakeLists.txt
index 411ecea..1a9619c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,11 +12,17 @@ endif()
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
+find_package(OCTOMAP REQUIRED)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/conversions.cpp
 )
 
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    ${OCTOMAP_INCLUDE_DIRS}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()