diff --git a/src/dynamixel_motor.h b/include/dynamixel_motor.h
similarity index 100%
rename from src/dynamixel_motor.h
rename to include/dynamixel_motor.h
diff --git a/src/dynamixel_motor_exceptions.h b/include/dynamixel_motor_exceptions.h
similarity index 100%
rename from src/dynamixel_motor_exceptions.h
rename to include/dynamixel_motor_exceptions.h
diff --git a/src/dynamixel_motor_group.h b/include/dynamixel_motor_group.h
similarity index 100%
rename from src/dynamixel_motor_group.h
rename to include/dynamixel_motor_group.h
diff --git a/src/dynamixel_registers.h b/include/dynamixel_registers.h
similarity index 100%
rename from src/dynamixel_registers.h
rename to include/dynamixel_registers.h
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 1e8d99d8383032482d8632818a49e099efbba03c..42f47f7c3cca019d8378bae533bb068bcda444f6 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -3,7 +3,9 @@ ADD_SUBDIRECTORY(xml)
 # edit the following line to add all the source code files of the library
 SET(sources dynamixel_motor.cpp dynamixel_motor_group.cpp dynamixel_registers.cpp dynamixel_motor_exceptions.cpp)
 # edit the following line to add all the header files of the library
-SET(headers dynamixel_motor.h dynamixel_motor_group.h dynamixel_registers.h dynamixel_motor_exceptions.h)
+SET(headers ../include/dynamixel_motor.h ../include/dynamixel_motor_group.h ../include/dynamixel_registers.h ../include/dynamixel_motor_exceptions.h)
+
+INCLUDE_DIRECTORIES(../include)
 
 FIND_PACKAGE(iriutils REQUIRED)