diff --git a/CMakeLists.txt b/CMakeLists.txt
index b60760da4eff0fde59e27af6201d722034b7796d..bbc4afa87f501ee7a127906bef0322028ff9b12f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,9 +18,11 @@ pkg_check_modules(JRL_MAL REQUIRED jrl-mal)
 pkg_check_modules(DYNAMIC_GRAPH REQUIRED dynamic-graph)
 pkg_check_modules(SOT_CORE REQUIRED sot-core)
 
+include_directories(include)
+
 rosbuild_add_library(ros_bridge
   src/converter.hh
-  src/ros_init.hh src/ros_init.cpp
+  include/dynamic_graph_bridge/ros_init.hh src/ros_init.cpp
   src/sot_to_ros.hh src/sot_to_ros.cpp
   )
 
diff --git a/src/ros_init.hh b/include/dynamic_graph_bridge/ros_init.hh
similarity index 100%
rename from src/ros_init.hh
rename to include/dynamic_graph_bridge/ros_init.hh
diff --git a/manifest.xml b/manifest.xml
index 330570b7de71914fe6442a1e11bf6115233606da..42a6103dcbd01b112b8fbbb56959b2e2986d58d9 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -9,6 +9,14 @@
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/dynamic-graph-bridge</url>
 
+  <export>
+    <cpp
+       cflags="-I${prefix}/include"
+       lflags="-L${prefix}/lib -lros_bridge -Wl,-rpath=${prefix}/lib"
+       />
+  </export>
+
+
   <rosdep name="boost"/>
 
   <rosdep name="jrl-mal"/>
diff --git a/src/ros_export.cpp b/src/ros_export.cpp
index f6d778cefb98130eec4c6e09e568ca5b35fb9afe..b1a2736fe9f727b470604f7862ebc8e828733dec 100644
--- a/src/ros_export.cpp
+++ b/src/ros_export.cpp
@@ -9,7 +9,7 @@
 
 #include <dynamic-graph/factory.h>
 
-#include "ros_init.hh"
+#include "dynamic_graph_bridge/ros_init.hh"
 #include "ros_export.hh"
 
 namespace dynamicgraph
diff --git a/src/ros_import.cpp b/src/ros_import.cpp
index 3f41fce5ebb4a088233278936f2dde8492d20ba7..1f007a4426a9a656881eb71a8c79304a0968b519 100644
--- a/src/ros_import.cpp
+++ b/src/ros_import.cpp
@@ -13,7 +13,7 @@
 #include <dynamic-graph/factory.h>
 #include <dynamic-graph/command.h>
 
-#include "ros_init.hh"
+#include "dynamic_graph_bridge/ros_init.hh"
 #include "ros_import.hh"
 
 namespace dynamicgraph
diff --git a/src/ros_init.cpp b/src/ros_init.cpp
index 8f21c053f3c9dd4963d161cafd507a5ddb03d079..fc7c83f0c18c2342ffbc297e3b818e7749a3e3c6 100644
--- a/src/ros_init.cpp
+++ b/src/ros_init.cpp
@@ -1,7 +1,7 @@
 #include <boost/make_shared.hpp>
 #include <boost/shared_ptr.hpp>
 
-#include "ros_init.hh"
+#include "dynamic_graph_bridge/ros_init.hh"
 
 namespace dynamicgraph
 {