diff --git a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
index 8c820a4ec6..e64bb7ef69 100755
--- a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
+++ b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
@@ -233,6 +233,9 @@ def create_ikfast_package(args):
             xmlElement("maintainer", email="%s@todo.todo" % user_name, text=user_name)
         )
         root.append(xmlElement("buildtool_depend", text="ament_cmake"))
+        export = xmlElement("export")
+        export.append(xmlElement("build_type", text="ament_cmake"))
+        root.append(export)
         etree.ElementTree(root).write(
             pkg_xml_path, xml_declaration=True, pretty_print=True, encoding="UTF-8"
         )
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
index 4a611e9990..3efe2673f2 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
@@ -32,6 +32,7 @@ ament_target_dependencies(${IKFAST_LIBRARY_NAME}
   tf2_kdl
   orocos_kdl
   tf2_eigen
+  LAPACK
 )
 # suppress warnings about unused variables in OpenRave's solver code
 target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable -Wno-unused-parameter)