diff --git a/src/dynamixel.h b/include/dynamixel.h
similarity index 100%
rename from src/dynamixel.h
rename to include/dynamixel.h
diff --git a/src/dynamixel_common.h b/include/dynamixel_common.h
similarity index 100%
rename from src/dynamixel_common.h
rename to include/dynamixel_common.h
diff --git a/src/dynamixel_slave.h b/include/dynamixel_slave.h
similarity index 100%
rename from src/dynamixel_slave.h
rename to include/dynamixel_slave.h
diff --git a/src/dynamixel_slave_ftdi.h b/include/dynamixel_slave_ftdi.h
similarity index 100%
rename from src/dynamixel_slave_ftdi.h
rename to include/dynamixel_slave_ftdi.h
diff --git a/src/dynamixel_slave_serial.h b/include/dynamixel_slave_serial.h
similarity index 100%
rename from src/dynamixel_slave_serial.h
rename to include/dynamixel_slave_serial.h
diff --git a/src/dynamixelexceptions.h b/include/dynamixelexceptions.h
similarity index 100%
rename from src/dynamixelexceptions.h
rename to include/dynamixelexceptions.h
diff --git a/src/dynamixelserver.h b/include/dynamixelserver.h
similarity index 100%
rename from src/dynamixelserver.h
rename to include/dynamixelserver.h
diff --git a/src/dynamixelserver_ftdi.h b/include/dynamixelserver_ftdi.h
similarity index 100%
rename from src/dynamixelserver_ftdi.h
rename to include/dynamixelserver_ftdi.h
diff --git a/src/dynamixelserver_serial.h b/include/dynamixelserver_serial.h
similarity index 100%
rename from src/dynamixelserver_serial.h
rename to include/dynamixelserver_serial.h
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 7b4a610d094fd4889cc2622aa4e4bf2620ee63f9..10f4d3f5f87b1d4bfd064136d4240bcb2d55c68f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -3,9 +3,9 @@ ADD_SUBDIRECTORY(xml)
 # edit the following line to add all the source code files of the library
 SET(sources dynamixel.cpp dynamixelserver.cpp dynamixelserver_ftdi.cpp dynamixelserver_serial.cpp dynamixelexceptions.cpp dynamixel_slave.cpp dynamixel_slave_ftdi.cpp dynamixel_slave_serial.cpp)
 # edit the following line to add all the header files of the library
-SET(headers dynamixel.h dynamixelserver.h dynamixelserver_ftdi.h dynamixelserver_serial.h dynamixelexceptions.h dynamixel_common.h dynamixel_slave.h dynamixel_slave_ftdi.h dynamixel_slave_serial.h)
+SET(headers ../include/dynamixel.h ../include/dynamixelserver.h ../include/dynamixelserver_ftdi.h ../include/dynamixelserver_serial.h ../include/dynamixelexceptions.h ../include/dynamixel_common.h ../include/dynamixel_slave.h dynamixel_slave_ftdi.h ../include/dynamixel_slave_serial.h)
 
-INCLUDE_DIRECTORIES(.)
+INCLUDE_DIRECTORIES(. ../include)
 
 # edit the following line to find the necessary packages
 FIND_PACKAGE(iriutils REQUIRED)