diff --git a/moveit_planners/ompl/CMakeLists.txt b/moveit_planners/ompl/CMakeLists.txt
index 60d33fca2d..87dbf5aec5 100644
--- a/moveit_planners/ompl/CMakeLists.txt
+++ b/moveit_planners/ompl/CMakeLists.txt
@@ -31,7 +31,7 @@ install(TARGETS moveit_ompl_interface moveit_ompl_planner_plugin
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
+  INCLUDES DESTINATION include/moveit_planners_ompl
 )
 ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
 ament_export_dependencies(moveit_core ompl)
diff --git a/moveit_planners/ompl/ompl_interface/CMakeLists.txt b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
index 39aef34c7a..933e19b6e1 100644
--- a/moveit_planners/ompl/ompl_interface/CMakeLists.txt
+++ b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
@@ -63,7 +63,7 @@ target_link_libraries(moveit_ompl_planner_plugin moveit_ompl_interface)
 install(TARGETS moveit_generate_state_database
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION include/moveit_planners)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt
index 1ad5b4a3d5..526e47a436 100644
--- a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt
+++ b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt
@@ -61,7 +61,7 @@ install(
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
+  INCLUDES DESTINATION include/moveit_resources_prbt_ikfast_manipulator_plugin
 )
 
 ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
diff --git a/moveit_py/src/moveit/moveit_py_utils/CMakeLists.txt b/moveit_py/src/moveit/moveit_py_utils/CMakeLists.txt
index daa7d74f2e..a76b69e94c 100644
--- a/moveit_py/src/moveit/moveit_py_utils/CMakeLists.txt
+++ b/moveit_py/src/moveit/moveit_py_utils/CMakeLists.txt
@@ -13,4 +13,4 @@ install(
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin)
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION include/moveit_py)