diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index ac7db1af6e..754d095521 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -238,10 +238,6 @@ install(
   RUNTIME DESTINATION bin
 )
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
-ament_export_libraries(${PROJECT_NAME})
-
 # Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})
 
diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index 4eefd6af2d..37084c9728 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -64,10 +64,6 @@ install(
   RUNTIME DESTINATION bin
 )
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
-ament_export_libraries(${PROJECT_NAME})
-
 # Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})
 
@@ -77,7 +73,8 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   # Give cppcheck hints about macro definitions coming from outside this package
-  set(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS ${rclcpp_INCLUDE_DIRS})
+  get_target_property(rclcpp_include_dirs rclcpp::rclcpp INTERFACE_INCLUDE_DIRECTORIES)
+  set(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS ${rclcpp_include_dirs})
   ament_lint_auto_find_test_dependencies()
 
   add_subdirectory(test/benchmark)
diff --git a/rclcpp_components/CMakeLists.txt b/rclcpp_components/CMakeLists.txt
index e4bd0c71cb..e9d5924703 100644
--- a/rclcpp_components/CMakeLists.txt
+++ b/rclcpp_components/CMakeLists.txt
@@ -167,10 +167,6 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
-ament_export_libraries(component_manager)
-
 # Export modern CMake targets
 ament_export_targets(export_${PROJECT_NAME})
 
diff --git a/rclcpp_lifecycle/CMakeLists.txt b/rclcpp_lifecycle/CMakeLists.txt
index b625194817..0515296b96 100644
--- a/rclcpp_lifecycle/CMakeLists.txt
+++ b/rclcpp_lifecycle/CMakeLists.txt
@@ -58,7 +58,8 @@ install(DIRECTORY include/
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # Give cppcheck hints about macro definitions coming from outside this package
-  set(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS ${rclcpp_INCLUDE_DIRS})
+  get_target_property(rclcpp_include_dirs rclcpp::rclcpp INTERFACE_INCLUDE_DIRECTORIES)
+  set(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS ${rclcpp_include_dirs})
   list(APPEND AMENT_LINT_AUTO_EXCLUDE "ament_cmake_cppcheck")
   ament_lint_auto_find_test_dependencies()
 
@@ -185,10 +186,6 @@ if(BUILD_TESTING)
   endif()
 endif()
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
-ament_export_libraries(${PROJECT_NAME})
-
 # Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})