diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 89d69a63d03..0943825abbe 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -50,4 +50,4 @@ jobs:
           vcs-file: dependencies.repos
           upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
           target-path: target_ws/src
-          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_PACKAGE=ON
diff --git a/tesseract_collision/CMakeLists.txt b/tesseract_collision/CMakeLists.txt
index 0910205bbb4..4b84edaa874 100644
--- a/tesseract_collision/CMakeLists.txt
+++ b/tesseract_collision/CMakeLists.txt
@@ -126,6 +126,8 @@ endif()
 
 # Examples
 if((TESSERACT_ENABLE_EXAMPLES OR TESSERACT_COLLISION_ENABLE_EXAMPLES) AND TESSERACT_BUILD_FCL)
+  message("Building examples components")
+  list(APPEND SUPPORTED_COMPONENTS examples)
   add_subdirectory(examples)
 endif()
 
diff --git a/tesseract_collision/examples/CMakeLists.txt b/tesseract_collision/examples/CMakeLists.txt
index 467b60a0169..e44e771f0fe 100644
--- a/tesseract_collision/examples/CMakeLists.txt
+++ b/tesseract_collision/examples/CMakeLists.txt
@@ -14,4 +14,16 @@ target_cxx_version(${PROJECT_NAME}_box_box_example PRIVATE VERSION ${TESSERACT_C
 target_clang_tidy(${PROJECT_NAME}_box_box_example ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_compile_definitions(${PROJECT_NAME}_box_box_example PRIVATE DATA_DIR="${CMAKE_SOURCE_DIR}/test")
 
-install(TARGETS ${PROJECT_NAME}_box_box_example DESTINATION bin)
+configure_component(
+  COMPONENT examples
+  NAMESPACE tesseract
+  TARGETS ${PROJECT_NAME}_box_box_example
+  DEPENDENCIES "tesseract_collision COMPONENTS core bullet fcl")
+
+if(TESSERACT_PACKAGE)
+  cpack_component(
+    COMPONENT examples
+    VERSION ${pkg_extracted_version}
+    DESCRIPTION "Tesseract Collision Examples components"
+    COMPONENT_DEPENDS core bullet fcl)
+endif()
diff --git a/tesseract_collision/test_suite/CMakeLists.txt b/tesseract_collision/test_suite/CMakeLists.txt
index c73799c607f..cee5f3d587b 100644
--- a/tesseract_collision/test_suite/CMakeLists.txt
+++ b/tesseract_collision/test_suite/CMakeLists.txt
@@ -22,6 +22,7 @@ target_include_directories(
 install(
   DIRECTORY include/${PROJECT_NAME}
   DESTINATION include
+  COMPONENT test_suite
   FILES_MATCHING
   PATTERN "*.h"
   PATTERN "*.hpp"
diff --git a/tesseract_collision/vhacd/CMakeLists.txt b/tesseract_collision/vhacd/CMakeLists.txt
index dd8c14065a9..84db0fee548 100644
--- a/tesseract_collision/vhacd/CMakeLists.txt
+++ b/tesseract_collision/vhacd/CMakeLists.txt
@@ -51,6 +51,7 @@ endif()
 install(
   DIRECTORY include/${PROJECT_NAME}
   DESTINATION include
+  COMPONENT vhacd
   FILES_MATCHING
   PATTERN "*.h"
   PATTERN "*.hpp"