diff --git a/rtabmap_msgs/CMakeLists.txt b/rtabmap_msgs/CMakeLists.txt
index 0ffcd3b55..7ae7eead0 100644
--- a/rtabmap_msgs/CMakeLists.txt
+++ b/rtabmap_msgs/CMakeLists.txt
@@ -1,11 +1,21 @@
 cmake_minimum_required(VERSION 3.5)
 project(rtabmap_msgs)
 
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
 ##################
 ## Dependencies ##
 ##################
 find_package(rosidl_default_generators REQUIRED)
 
+find_package(builtin_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
@@ -66,7 +76,9 @@ set(srv_files
 rosidl_generate_interfaces(${PROJECT_NAME}
    ${msg_files}
    ${srv_files}
-   DEPENDENCIES geometry_msgs std_msgs sensor_msgs std_srvs
+   DEPENDENCIES builtin_interfaces geometry_msgs std_msgs sensor_msgs std_srvs
 )
 
+ament_export_dependencies(rosidl_default_runtime)
+
 ament_package()
diff --git a/rtabmap_msgs/package.xml b/rtabmap_msgs/package.xml
index 7724cc5bb..8968e6084 100644
--- a/rtabmap_msgs/package.xml
+++ b/rtabmap_msgs/package.xml
@@ -12,13 +12,20 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>rosidl_default_generators</build_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
-  <member_of_group>rosidl_interface_packages</member_of_group>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>builtin_interfaces</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>geometry_msgs</depend>
   <depend>sensor_msgs</depend>
+  
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 
 </package>