diff --git a/map/lanelet2_extension/CMakeLists.txt b/map/lanelet2_extension/CMakeLists.txt
index 9ec02cf66324..60bdb758c913 100644
--- a/map/lanelet2_extension/CMakeLists.txt
+++ b/map/lanelet2_extension/CMakeLists.txt
@@ -47,6 +47,12 @@ target_link_libraries(lanelet2_extension_lib
   ${GeographicLib_LIBRARIES}
 )
 
+get_target_property(lanelet2_core_INCLUDE_DIRECTORIES lanelet2_core::lanelet2_core INTERFACE_INCLUDE_DIRECTORIES)
+target_include_directories(lanelet2_extension_lib
+  SYSTEM PRIVATE
+    ${lanelet2_core_INCLUDE_DIRECTORIES}
+)
+
 ament_auto_add_executable(lanelet2_extension_sample src/sample_code.cpp)
 add_dependencies(lanelet2_extension_sample lanelet2_extension_lib)
 target_link_libraries(lanelet2_extension_sample
@@ -72,6 +78,10 @@ if(BUILD_TESTING)
   target_link_libraries(regulatory_elements-test lanelet2_extension_lib)
   ament_add_gtest(utilities-test test/src/test_utilities.cpp)
   target_link_libraries(utilities-test lanelet2_extension_lib)
+  target_include_directories(utilities-test
+    SYSTEM PRIVATE
+      ${lanelet2_core_INCLUDE_DIRECTORIES}
+  )
 endif()
 
 ament_auto_package()