diff --git a/map/lanelet2_extension/CMakeLists.txt b/map/lanelet2_extension/CMakeLists.txt
index a0db7fe78bdb2..47127fd098c37 100644
--- a/map/lanelet2_extension/CMakeLists.txt
+++ b/map/lanelet2_extension/CMakeLists.txt
@@ -48,6 +48,12 @@ target_link_libraries(lanelet2_extension_lib
   ${GeographicLib_LIBRARIES}
 )
 
+get_target_property(lanelet2_core_INCLUDE_DIRECTORIES lanelet2_core::lanelet2_core INTERFACE_INCLUDE_DIRECTORIES)
+target_include_directories(lanelet2_extension_lib
+  SYSTEM PRIVATE
+    ${lanelet2_core_INCLUDE_DIRECTORIES}
+)
+
 ament_auto_add_executable(lanelet2_extension_sample src/sample_code.cpp)
 add_dependencies(lanelet2_extension_sample lanelet2_extension_lib)
 target_link_libraries(lanelet2_extension_sample
@@ -75,6 +81,10 @@ if(BUILD_TESTING)
   target_link_libraries(utilities-test lanelet2_extension_lib)
   ament_add_ros_isolated_gtest(route-test test/src/test_route_checker.cpp)
   target_link_libraries(route-test lanelet2_extension_lib)
+  target_include_directories(utilities-test
+    SYSTEM PRIVATE
+      ${lanelet2_core_INCLUDE_DIRECTORIES}
+  )
 endif()
 
 ament_auto_package()
diff --git a/perception/crosswalk_traffic_light_estimator/CMakeLists.txt b/perception/crosswalk_traffic_light_estimator/CMakeLists.txt
index 11a6b232caf90..2853ef1564b49 100644
--- a/perception/crosswalk_traffic_light_estimator/CMakeLists.txt
+++ b/perception/crosswalk_traffic_light_estimator/CMakeLists.txt
@@ -19,6 +19,12 @@ rclcpp_components_register_node(crosswalk_traffic_light_estimator
   EXECUTABLE crosswalk_traffic_light_estimator_node
 )
 
+get_target_property(lanelet2_core_INCLUDE_DIRECTORIES lanelet2_core::lanelet2_core INTERFACE_INCLUDE_DIRECTORIES)
+target_include_directories(crosswalk_traffic_light_estimator
+  SYSTEM PRIVATE
+    ${lanelet2_core_INCLUDE_DIRECTORIES}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
diff --git a/perception/map_based_prediction/CMakeLists.txt b/perception/map_based_prediction/CMakeLists.txt
index 53c78b54bc2ab..8166359ea7e98 100644
--- a/perception/map_based_prediction/CMakeLists.txt
+++ b/perception/map_based_prediction/CMakeLists.txt
@@ -22,6 +22,12 @@ rclcpp_components_register_node(map_based_prediction_node
   EXECUTABLE map_based_prediction
 )
 
+get_target_property(lanelet2_core_INCLUDE_DIRECTORIES lanelet2_core::lanelet2_core INTERFACE_INCLUDE_DIRECTORIES)
+target_include_directories(map_based_prediction_node
+  SYSTEM PRIVATE
+    ${lanelet2_core_INCLUDE_DIRECTORIES}
+)
+
 ament_auto_package(
   INSTALL_TO_SHARE
   config
diff --git a/perception/traffic_light_map_based_detector/CMakeLists.txt b/perception/traffic_light_map_based_detector/CMakeLists.txt
index 75a4bf9064782..000f69d43bb6c 100644
--- a/perception/traffic_light_map_based_detector/CMakeLists.txt
+++ b/perception/traffic_light_map_based_detector/CMakeLists.txt
@@ -20,6 +20,12 @@ rclcpp_components_register_node(traffic_light_map_based_detector
   EXECUTABLE traffic_light_map_based_detector_node
 )
 
+get_target_property(lanelet2_core_INCLUDE_DIRECTORIES lanelet2_core::lanelet2_core INTERFACE_INCLUDE_DIRECTORIES)
+target_include_directories(traffic_light_map_based_detector
+  SYSTEM PRIVATE
+    ${lanelet2_core_INCLUDE_DIRECTORIES}
+)
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config
diff --git a/planning/mission_planner/CMakeLists.txt b/planning/mission_planner/CMakeLists.txt
index 9b7f7874672bc..ec5692a48123f 100644
--- a/planning/mission_planner/CMakeLists.txt
+++ b/planning/mission_planner/CMakeLists.txt
@@ -15,6 +15,12 @@ rclcpp_components_register_node(mission_planner_node
   EXECUTABLE mission_planner
 )
 
+get_target_property(lanelet2_core_INCLUDE_DIRECTORIES lanelet2_core::lanelet2_core INTERFACE_INCLUDE_DIRECTORIES)
+target_include_directories(mission_planner_node
+  SYSTEM PRIVATE
+    ${lanelet2_core_INCLUDE_DIRECTORIES}
+)
+
 ament_auto_add_library(goal_pose_visualizer_node SHARED
   src/goal_pose_visualizer/goal_pose_visualizer.cpp
 )
diff --git a/planning/route_handler/CMakeLists.txt b/planning/route_handler/CMakeLists.txt
index 54b34f11f5363..f20001a3c5557 100644
--- a/planning/route_handler/CMakeLists.txt
+++ b/planning/route_handler/CMakeLists.txt
@@ -8,4 +8,10 @@ ament_auto_add_library(route_handler SHARED
   src/route_handler.cpp
 )
 
+get_target_property(lanelet2_core_INCLUDE_DIRECTORIES lanelet2_core::lanelet2_core INTERFACE_INCLUDE_DIRECTORIES)
+target_include_directories(route_handler
+  SYSTEM PRIVATE
+    ${lanelet2_core_INCLUDE_DIRECTORIES}
+)
+
 ament_auto_package()
diff --git a/planning/scenario_selector/CMakeLists.txt b/planning/scenario_selector/CMakeLists.txt
index 9ff0d09b28150..db11b427f6469 100644
--- a/planning/scenario_selector/CMakeLists.txt
+++ b/planning/scenario_selector/CMakeLists.txt
@@ -13,6 +13,12 @@ rclcpp_components_register_node(scenario_selector_node
   EXECUTABLE scenario_selector
 )
 
+get_target_property(lanelet2_core_INCLUDE_DIRECTORIES lanelet2_core::lanelet2_core INTERFACE_INCLUDE_DIRECTORIES)
+target_include_directories(scenario_selector_node
+  SYSTEM PRIVATE
+    ${lanelet2_core_INCLUDE_DIRECTORIES}
+)
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
 )