diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index 71c546b9ec..5b94634f57 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -87,7 +87,7 @@ install(
 	DIRECTORY
 		${PROJECT_SOURCE_DIR}/posix-configs
 		${PROJECT_SOURCE_DIR}/test
-		${CMAKE_BINARY_DIR}/etc
+		${PX4_BINARY_DIR}/etc
 		${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
 	DESTINATION
 		${PROJECT_NAME}
@@ -201,6 +201,14 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 			${PROJECT_NAME}/build/px4_sitl_default
 		)
 
+	# gazebo files
+	install(
+		FILES
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gz/server.config
+		DESTINATION
+			${PROJECT_NAME}/Tools/simulation/gz
+		)
+
 	# gazebo dirs
 	install(
 		DIRECTORY
diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index 45aa9b1cc8..4701863c07 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -92,6 +92,7 @@ target_sources(mavlink_c
 target_include_directories(mavlink_c
 	INTERFACE
 		${MAVLINK_LIBRARY_DIR}
+		${MAVLINK_LIBRARY_DIR}/../
 		${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}
 		${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}
 )
diff --git a/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt b/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
index bb453df805..4397463b5c 100644
--- a/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
@@ -67,4 +67,8 @@ else()
         PRIVATE ${GSTREAMER_CFLAGS}
         PRIVATE ${GSTREAMER_APP_CFLAGS}
     )
+
+    if (NOT CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+        install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION lib/px4_gz_plugins)
+    endif()
 endif()
diff --git a/src/modules/simulation/gz_plugins/moving_platform_controller/CMakeLists.txt b/src/modules/simulation/gz_plugins/moving_platform_controller/CMakeLists.txt
index 88e2da59cb..243a92af53 100644
--- a/src/modules/simulation/gz_plugins/moving_platform_controller/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/moving_platform_controller/CMakeLists.txt
@@ -50,3 +50,7 @@ target_include_directories(${PROJECT_NAME}
     PUBLIC ${CMAKE_CURRENT_BINARY_DIR}
     PUBLIC px4_gz_msgs
 )
+
+if (NOT CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+    install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION lib/px4_gz_plugins)
+endif()
diff --git a/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt b/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
index a03ee39598..62d9c7c959 100644
--- a/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
@@ -63,3 +63,7 @@ target_include_directories(${PROJECT_NAME}
 )
 
 add_dependencies(${PROJECT_NAME} OpticalFlow)
+
+if (NOT CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+    install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION lib/px4_gz_plugins)
+endif()
diff --git a/src/modules/simulation/gz_plugins/optical_flow/optical_flow.cmake b/src/modules/simulation/gz_plugins/optical_flow/optical_flow.cmake
index 8ac1c1f649..2dcc7d074d 100644
--- a/src/modules/simulation/gz_plugins/optical_flow/optical_flow.cmake
+++ b/src/modules/simulation/gz_plugins/optical_flow/optical_flow.cmake
@@ -35,19 +35,24 @@ include(ExternalProject)
 find_package(OpenCV REQUIRED)
 
 if(NOT TARGET OpticalFlow)
+    if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+        set(OPTICAL_FLOW_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/OpticalFlow/install")
+    else()
+        set(OPTICAL_FLOW_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+    endif()
+
     ExternalProject_Add(OpticalFlow
         GIT_REPOSITORY https://github.com/PX4/PX4-OpticalFlow.git
         GIT_TAG master
         PREFIX ${CMAKE_BINARY_DIR}/OpticalFlow
-        INSTALL_DIR ${CMAKE_BINARY_DIR}/OpticalFlow/install
-        CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
-        BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/OpticalFlow/install/lib/libOpticalFlow.so
+        INSTALL_DIR ${OPTICAL_FLOW_INSTALL_PREFIX}
+        CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${OPTICAL_FLOW_INSTALL_PREFIX}
+        BUILD_BYPRODUCTS ${OPTICAL_FLOW_INSTALL_PREFIX}/lib/libOpticalFlow.so
         UPDATE_DISCONNECTED ON
         BUILD_ALWAYS OFF
         STEP_TARGETS build
     )
 
-    ExternalProject_Get_Property(OpticalFlow install_dir)
-    set(OpticalFlow_INCLUDE_DIRS ${install_dir}/include CACHE INTERNAL "")
-    set(OpticalFlow_LIBS ${install_dir}/lib/libOpticalFlow.so CACHE INTERNAL "")
+    set(OpticalFlow_INCLUDE_DIRS ${OPTICAL_FLOW_INSTALL_PREFIX}/include CACHE INTERNAL "")
+    set(OpticalFlow_LIBS ${OPTICAL_FLOW_INSTALL_PREFIX}/lib/libOpticalFlow.so CACHE INTERNAL "")
 endif()
diff --git a/src/modules/simulation/gz_plugins/template_plugin/CMakeLists.txt b/src/modules/simulation/gz_plugins/template_plugin/CMakeLists.txt
index a0caaf2b33..f948736523 100644
--- a/src/modules/simulation/gz_plugins/template_plugin/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/template_plugin/CMakeLists.txt
@@ -66,3 +66,7 @@ target_include_directories(${PROJECT_NAME}
 
 # Add dependencies if needed
 # add_dependencies(${PROJECT_NAME} ExternalDependency)
+
+if (NOT CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+    install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION lib/px4_gz_plugins)
+endif()
diff --git a/src/modules/uxrce_dds_client/CMakeLists.txt b/src/modules/uxrce_dds_client/CMakeLists.txt
index e5fc481543..fba4ca45cf 100644
--- a/src/modules/uxrce_dds_client/CMakeLists.txt
+++ b/src/modules/uxrce_dds_client/CMakeLists.txt
@@ -63,7 +63,6 @@ else()
 	endif()
 
 	include(ExternalProject)
-
 	ExternalProject_Add(
 		libmicroxrceddsclient_project
 		PREFIX      ${microxrceddsclient_build_dir}
@@ -139,7 +138,6 @@ else()
 			# -DDEBUG_BUILD
 			${MAX_CUSTOM_OPT_LEVEL}
 		SRCS
-			${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
 			uxrce_dds_client.cpp
 			uxrce_dds_client.h
 			vehicle_command_srv.cpp