diff --git a/.travis.yml b/.travis.yml
index 6f5d5ec3c..beab3ebad 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -39,7 +39,7 @@ before_script:
   - mkdir -p build
   
 script:
-  - if [ "$ROS_DISTRO"  = "none" ]; then (cd build; cmake .. ;cmake --build .; ./bin/behaviortree_cpp_test); fi
+  - if [ "$ROS_DISTRO"  = "none" ]; then (cd build; cmake .. ;cmake --build .; sudo cmake --build . --target install;./bin/behaviortree_cpp_test); fi
   - if [ "$ROS_DISTRO" != "none" ]; then (.ci_config/travis.sh); fi
 
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index eafd3d647..eda83ab8d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -105,8 +105,13 @@ list(APPEND BT_SOURCE
 set(BEHAVIOR_TREE_LIBRARY ${PROJECT_NAME})
 
 add_library(${BEHAVIOR_TREE_LIBRARY} ${BT_SOURCE} )
-target_link_libraries(${BEHAVIOR_TREE_LIBRARY}  ${BEHAVIOR_TREE_EXTERNAL_LIBRARIES} ${catkin_LIBRARIES})
-target_include_directories(${BEHAVIOR_TREE_LIBRARY} PUBLIC include 3rdparty ${catkin_INCLUDE_DIRS})
+target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PUBLIC ${BEHAVIOR_TREE_EXTERNAL_LIBRARIES} ${catkin_LIBRARIES})
+target_include_directories(${BEHAVIOR_TREE_LIBRARY} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
+    $<INSTALL_INTERFACE:3rdparty>
+    ${catkin_INCLUDE_DIRS})
 
 if(MSVC)
   target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE /W4 /WX)
@@ -114,6 +119,15 @@ else()
   target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE -Wall -Wextra -Werror=return-type)
 endif()
 
+######################################################
+# EXPORTS
+
+set(PROJECT_NAMESPACE BehaviorTree)
+set(PROJECT_CONFIG ${PROJECT_NAMESPACE}Config)
+export(TARGETS ${PROJECT_NAME}
+       NAMESPACE ${PROJECT_NAMESPACE}::
+       FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_CONFIG}.cmake")
+
 ######################################################
 # TESTS
 
@@ -163,6 +177,7 @@ else()
 endif()
 
 INSTALL(TARGETS ${BEHAVIOR_TREE_LIBRARY}
+    EXPORT ${PROJECT_CONFIG}
     ARCHIVE DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
     LIBRARY DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
     )
@@ -171,6 +186,10 @@ INSTALL( DIRECTORY ${CMAKE_SOURCE_DIR}/include/
     DESTINATION ${BEHAVIOR_TREE_INC_DESTINATION}
     FILES_MATCHING PATTERN "*.h*")
 
+install(EXPORT ${PROJECT_CONFIG}
+    DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/${PROJECT_NAMESPACE}/cmake"
+    NAMESPACE ${PROJECT_NAMESPACE}::)
+
 ######################################################
 # EXAMPLES and TOOLS