diff --git a/rviz_mbf_plugins/CMakeLists.txt b/rviz_mbf_plugins/CMakeLists.txt
index 076c2be2..0650d8b9 100644
--- a/rviz_mbf_plugins/CMakeLists.txt
+++ b/rviz_mbf_plugins/CMakeLists.txt
@@ -5,37 +5,69 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
 
-find_package(ament_cmake_ros REQUIRED)
+find_package(ament_cmake REQUIRED)
 
-find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(mbf_msgs REQUIRED)
 find_package(rviz_common REQUIRED)
 
-qt5_wrap_cpp(MOC_FILES
+find_package(Qt5 REQUIRED COMPONENTS Widgets)
+
+
+set(rviz_mbf_plugins_headers_to_moc
   include/rviz_mbf_plugins/mbf_goal_actions_panel.hpp
 )
 
-add_library(${PROJECT_NAME}_mbf_goal_actions_panel src/mbf_goal_actions_panel.cpp ${MOC_FILES})
-target_include_directories(${PROJECT_NAME}_mbf_goal_actions_panel PUBLIC
+foreach(header "${rviz_mbf_plugins_headers_to_moc}")
+  qt5_wrap_cpp(rviz_mbf_plugins_moc_files "${header}")
+endforeach()
+
+add_library(rviz_mbf_plugins SHARED
+  ${rviz_mbf_plugins_moc_files}
+  src/mbf_goal_actions_panel.cpp
+)
+
+target_include_directories(rviz_mbf_plugins PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
-ament_target_dependencies(${PROJECT_NAME}_mbf_goal_actions_panel
+
+ament_target_dependencies(rviz_mbf_plugins
+  rclcpp
+  rclcpp_action
   pluginlib
-  rviz_common
+  geometry_msgs
   mbf_msgs
+  rviz_common
 )
 
-install(TARGETS ${PROJECT_NAME}_mbf_goal_actions_panel
-        EXPORT export_${PROJECT_NAME}
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
-        RUNTIME DESTINATION bin
+target_link_libraries(rviz_mbf_plugins
+  Qt5::Widgets
 )
-install(DIRECTORY include/ DESTINATION include)
-install(FILES plugins_description.xml
-        DESTINATION share/${PROJECT_NAME}
+
+target_compile_definitions(rviz_mbf_plugins PRIVATE "RVIZ_MBF_PLUGINS_BUILDING_LIBRARY")
+
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+install(
+  TARGETS rviz_mbf_plugins
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY include/ 
+  DESTINATION include
+)
+
+install(
+  FILES plugins_description.xml
+  DESTINATION share/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
@@ -43,9 +75,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-
 ament_export_include_directories(include)
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
 
 ament_package()
diff --git a/rviz_mbf_plugins/include/rviz_mbf_plugins/mbf_goal_actions_panel.hpp b/rviz_mbf_plugins/include/rviz_mbf_plugins/mbf_goal_actions_panel.hpp
index 552471f1..e30811ba 100644
--- a/rviz_mbf_plugins/include/rviz_mbf_plugins/mbf_goal_actions_panel.hpp
+++ b/rviz_mbf_plugins/include/rviz_mbf_plugins/mbf_goal_actions_panel.hpp
@@ -62,7 +62,7 @@ class MbfGoalActionsPanel : public rviz_common::Panel
 
 public:
   explicit MbfGoalActionsPanel(QWidget * parent = nullptr);
-  virtual ~MbfGoalActionsPanel() {}
+  ~MbfGoalActionsPanel() noexcept override = default;
 
   void onInitialize() override;
   void save(rviz_common::Config config) const override;
diff --git a/rviz_mbf_plugins/package.xml b/rviz_mbf_plugins/package.xml
index 5aa36033..d797ad8d 100644
--- a/rviz_mbf_plugins/package.xml
+++ b/rviz_mbf_plugins/package.xml
@@ -15,10 +15,19 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>mbf_msgs</depend>
-  <depend>pluginlib</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>pluginlib</depend>
+  <depend>mbf_msgs</depend>
   <depend>rviz_common</depend>
+  <depend>geometry_msgs</depend>
+
+  <build_depend>qtbase5-dev</build_depend>
+  <build_export_depend>qtbase5-dev</build_export_depend>
+
+  <exec_depend>libqt5-widgets</exec_depend>
+  <exec_depend>libqt5-gui</exec_depend>
+  <exec_depend>libqt5-core</exec_depend>
 
   <test_depend>ament_cmake_auto</test_depend>
   <test_depend>ament_cmake_uncrustify</test_depend>
diff --git a/rviz_mbf_plugins/plugins_description.xml b/rviz_mbf_plugins/plugins_description.xml
index 3f6c98a0..3be1cfae 100644
--- a/rviz_mbf_plugins/plugins_description.xml
+++ b/rviz_mbf_plugins/plugins_description.xml
@@ -1,4 +1,4 @@
-<library path="rviz_mbf_plugins_mbf_goal_actions_panel">
+<library path="rviz_mbf_plugins">
   <class name="rviz_mbf_plugins/MbfGoalActions"
          type="rviz_mbf_plugins::MbfGoalActionsPanel"
          base_class_type="rviz_common::Panel">
diff --git a/rviz_mbf_plugins/src/mbf_goal_actions_panel.cpp b/rviz_mbf_plugins/src/mbf_goal_actions_panel.cpp
index 629bb65a..4004eeed 100644
--- a/rviz_mbf_plugins/src/mbf_goal_actions_panel.cpp
+++ b/rviz_mbf_plugins/src/mbf_goal_actions_panel.cpp
@@ -412,4 +412,5 @@ void MbfGoalActionsPanel::exePathResultCallback(
 } // namespace rviz_mbf_plugins
 
 #include <pluginlib/class_list_macros.hpp>
+#include <rviz_common/panel.hpp>
 PLUGINLIB_EXPORT_CLASS(rviz_mbf_plugins::MbfGoalActionsPanel, rviz_common::Panel)