diff --git a/robotiq_description/package.xml b/robotiq_description/package.xml
index 3bc3a67..ee1ebec 100644
--- a/robotiq_description/package.xml
+++ b/robotiq_description/package.xml
@@ -9,8 +9,6 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>serial</depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/robotiq_driver/CMakeLists.txt b/robotiq_driver/CMakeLists.txt
index b89d558..e882f18 100644
--- a/robotiq_driver/CMakeLists.txt
+++ b/robotiq_driver/CMakeLists.txt
@@ -35,8 +35,9 @@ target_include_directories(
   PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
+  ${SERIAL_INCLUDE_DIRS}
 )
-target_link_libraries(${PROJECT_NAME} atomic)
+target_link_libraries(${PROJECT_NAME} atomic ${SERIAL_LIBRARIES})
 ament_target_dependencies(
   ${PROJECT_NAME}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}