diff --git a/tesseract_task_composer/core/CMakeLists.txt b/tesseract_task_composer/core/CMakeLists.txt
index 2ef7e09e5a..550690c83a 100644
--- a/tesseract_task_composer/core/CMakeLists.txt
+++ b/tesseract_task_composer/core/CMakeLists.txt
@@ -97,11 +97,19 @@ install(
   PATTERN "*.h"
   PATTERN "*.hpp")
 
+# Plugin should not be export only installed
+install(
+  TARGETS ${PROJECT_NAME}_factories
+  COMPONENT core
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
+
 # Configure Components
 configure_component(
   COMPONENT core
   NAMESPACE tesseract
-  TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_nodes ${PROJECT_NAME}_factories
+  TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_nodes
   DEPENDENCIES
     console_bridge
     tesseract_common
diff --git a/tesseract_task_composer/planning/CMakeLists.txt b/tesseract_task_composer/planning/CMakeLists.txt
index 77867117c0..ff337f1f7f 100644
--- a/tesseract_task_composer/planning/CMakeLists.txt
+++ b/tesseract_task_composer/planning/CMakeLists.txt
@@ -171,11 +171,19 @@ install(
   PATTERN "*.hpp"
   PATTERN ".svn" EXCLUDE)
 
+# Plugin should not be export only installed
+install(
+  TARGETS ${PROJECT_NAME}_planning_factories
+  COMPONENT planning
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
+
 # Configure Components
 configure_component(
   COMPONENT planning
   NAMESPACE tesseract
-  TARGETS ${PROJECT_NAME}_planning_nodes ${PROJECT_NAME}_planning_factories
+  TARGETS ${PROJECT_NAME}_planning_nodes
   DEPENDENCIES
     "tesseract_task_composer COMPONENTS core"
     tesseract_command_language
diff --git a/tesseract_task_composer/taskflow/CMakeLists.txt b/tesseract_task_composer/taskflow/CMakeLists.txt
index 9e52d94c19..a35def4a33 100644
--- a/tesseract_task_composer/taskflow/CMakeLists.txt
+++ b/tesseract_task_composer/taskflow/CMakeLists.txt
@@ -55,11 +55,19 @@ install(
   PATTERN "*.hpp"
   PATTERN ".svn" EXCLUDE)
 
+# Plugin should not be export only installed
+install(
+  TARGETS ${PROJECT_NAME}_taskflow_factories
+  COMPONENT taskflow
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
+
 # Configure Components
 configure_component(
   COMPONENT taskflow
   NAMESPACE tesseract
-  TARGETS ${PROJECT_NAME}_taskflow ${PROJECT_NAME}_taskflow_factories
+  TARGETS ${PROJECT_NAME}_taskflow
   DEPENDENCIES "tesseract_task_composer COMPONENTS core" Taskflow)
 
 if(TESSERACT_PACKAGE)