diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
index e968516f628..abe32b270cb 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
@@ -4,12 +4,11 @@ find_package(ur_kinematics QUIET)
 
 add_library(moveit_cached_ik_kinematics_base SHARED src/ik_cache.cpp)
 set_target_properties(moveit_cached_ik_kinematics_base PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_cached_ik_kinematics_base
+ament_target_dependencies(moveit_cached_ik_kinematics_base PUBLIC
   rclcpp
   moveit_core
   moveit_msgs
 )
-target_link_libraries(moveit_cached_ik_kinematics_base moveit_cached_ik_kinematics_plugin)
 
 if(trac_ik_kinematics_plugin_FOUND)
     include_directories(${trac_ik_kinematics_plugin_INCLUDE_DIRS})
@@ -20,18 +19,23 @@ generate_parameter_library(
   include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_parameters.yaml # path to input yaml file
 )
 
+target_link_libraries(moveit_cached_ik_kinematics_base PUBLIC
+  cached_ik_kinematics_parameters
+  moveit_kdl_kinematics_plugin)
+
 add_library(moveit_cached_ik_kinematics_plugin SHARED src/cached_ik_kinematics_plugin.cpp)
 set_target_properties(moveit_cached_ik_kinematics_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_cached_ik_kinematics_plugin
+ament_target_dependencies(moveit_cached_ik_kinematics_plugin PUBLIC
   rclcpp
   moveit_core
   moveit_msgs
   rsl
 )
-target_link_libraries(moveit_cached_ik_kinematics_plugin
+target_link_libraries(moveit_cached_ik_kinematics_plugin PRIVATE
     cached_ik_kinematics_parameters
     moveit_kdl_kinematics_plugin
-    moveit_srv_kinematics_plugin)
+    moveit_srv_kinematics_plugin
+    moveit_cached_ik_kinematics_base)
 if(trac_ik_kinematics_plugin_FOUND)
     target_link_libraries(moveit_cached_ik_kinematics_plugin ${trac_ik_kinematics_plugin_LIBRARIES})
     set_target_properties(moveit_cached_ik_kinematics_plugin PROPERTIES COMPILE_DEFINITIONS "CACHED_IK_KINEMATICS_TRAC_IK")