diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 7a27cda45a..2599758ee2 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -148,25 +148,21 @@ add_subdirectory(collision_detection_fcl)
 
 install(
   TARGETS
-    collision_detector_bullet_plugin
-    moveit_butterworth_filter
     moveit_butterworth_parameters
-    moveit_collision_distance_field
     moveit_collision_detection
-    moveit_collision_detection_fcl
     moveit_collision_detection_bullet
-    moveit_dynamics_solver
+    moveit_collision_detection_fcl
+    moveit_collision_distance_field
     moveit_constraint_samplers
     moveit_distance_field
+    moveit_dynamics_solver
     moveit_exceptions
-    moveit_kinematics_base
     moveit_kinematic_constraints
+    moveit_kinematics_base
     moveit_kinematics_metrics
     moveit_planning_interface
-    moveit_planning_scene
     moveit_planning_request_adapter
-    # TODO: Port python bindings
-    # moveit_python_tools
+    moveit_planning_scene
     moveit_robot_model
     moveit_robot_state
     moveit_robot_trajectory
@@ -183,6 +179,19 @@ install(
 )
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+
+install(
+  TARGETS
+    collision_detector_bullet_plugin
+    collision_detector_fcl_plugin
+    moveit_butterworth_filter
+  EXPORT moveit_core_pluginTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
 ament_export_dependencies(
   angles
   Bullet
diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt
index 37af536ffa..247ec4eb62 100644
--- a/moveit_core/collision_detection/CMakeLists.txt
+++ b/moveit_core/collision_detection/CMakeLists.txt
@@ -16,6 +16,7 @@ generate_export_header(${MOVEIT_LIB_NAME})
 target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}> $<TARGET_PROPERTY:moveit_planning_scene,INCLUDE_DIRECTORIES>)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 ament_target_dependencies(${MOVEIT_LIB_NAME}
+  pluginlib
   rclcpp
   rmw_implementation
   urdf
diff --git a/moveit_core/online_signal_smoothing/CMakeLists.txt b/moveit_core/online_signal_smoothing/CMakeLists.txt
index 0982a5d4d1..35f2dbe2cf 100644
--- a/moveit_core/online_signal_smoothing/CMakeLists.txt
+++ b/moveit_core/online_signal_smoothing/CMakeLists.txt
@@ -38,6 +38,7 @@ target_link_libraries(${BUTTERWORTH_FILTER_LIB}
 )
 ament_target_dependencies(${BUTTERWORTH_FILTER_LIB}
   srdfdom  # include dependency from moveit_robot_model
+  pluginlib
 )
 
 # Installation
diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
index 88472a2818..04aeb9e08b 100644
--- a/moveit_kinematics/CMakeLists.txt
+++ b/moveit_kinematics/CMakeLists.txt
@@ -30,6 +30,9 @@ set(THIS_PACKAGE_INCLUDE_DIRS
 
 set(THIS_PACKAGE_LIBRARIES
   moveit_cached_ik_kinematics_base
+)
+
+set(THIS_PACKAGE_PLUGINS
   moveit_cached_ik_kinematics_plugin
   moveit_kdl_kinematics_plugin
   moveit_lma_kinematics_plugin
@@ -66,6 +69,15 @@ install(
   INCLUDES DESTINATION include
 )
 
+install(
+  TARGETS ${THIS_PACKAGE_PLUGINS}
+  EXPORT export_${PROJECT_NAME}PluginTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  DESTINATION include
+)
+
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor)
 
diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index ebabb9d205..491ae9c7c3 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -81,7 +81,6 @@ install(
 
 install(
   TARGETS
-    moveit_move_group_default_capabilities
     moveit_move_group_capabilities_base
   EXPORT export_${PROJECT_NAME}
   LIBRARY DESTINATION lib
@@ -90,6 +89,16 @@ install(
   INCLUDES DESTINATION include
 )
 
+install(
+  TARGETS
+    moveit_move_group_default_capabilities
+  EXPORT moveit_move_group_default_capabilitiesTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
 install(DIRECTORY include/ DESTINATION include)
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)