diff --git a/tesseract_collision/bullet/CMakeLists.txt b/tesseract_collision/bullet/CMakeLists.txt
index ffe801de22f..e75232cde3f 100644
--- a/tesseract_collision/bullet/CMakeLists.txt
+++ b/tesseract_collision/bullet/CMakeLists.txt
@@ -118,16 +118,25 @@ set(CONTACT_MANAGERS_PLUGINS ${CONTACT_MANAGERS_PLUGINS} "${PROJECT_NAME}_bullet
 install(
   DIRECTORY include/${PROJECT_NAME}
   DESTINATION include
+  COMPONENT bullet
   FILES_MATCHING
   PATTERN "*.h"
   PATTERN "*.hpp"
   PATTERN "*.inl"
   PATTERN ".svn" EXCLUDE)
 
+# Plugin should not be export only installed
+install(
+  TARGETS ${PROJECT_NAME}_bullet_factories
+  COMPONENT bullet
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
+
 configure_component(
   COMPONENT bullet
   NAMESPACE tesseract
-  TARGETS ${PROJECT_NAME}_bullet ${PROJECT_NAME}_bullet_factories
+  TARGETS ${PROJECT_NAME}_bullet
   DEPENDENCIES "tesseract_collision COMPONENTS core"
   CFG_EXTRAS cmake/bullet-extras.cmake)
 
diff --git a/tesseract_collision/fcl/CMakeLists.txt b/tesseract_collision/fcl/CMakeLists.txt
index d421b3789a5..1b5fcbe0a17 100644
--- a/tesseract_collision/fcl/CMakeLists.txt
+++ b/tesseract_collision/fcl/CMakeLists.txt
@@ -48,16 +48,25 @@ set(CONTACT_MANAGERS_PLUGINS ${CONTACT_MANAGERS_PLUGINS} "${PROJECT_NAME}_fcl_fa
 install(
   DIRECTORY include/${PROJECT_NAME}
   DESTINATION include
+  COMPONENT fcl
   FILES_MATCHING
   PATTERN "*.h"
   PATTERN "*.hpp"
   PATTERN "*.inl"
   PATTERN ".svn" EXCLUDE)
 
+# Plugin should not be export only installed
+install(
+  TARGETS ${PROJECT_NAME}_fcl_factories
+  COMPONENT fcl
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
+
 configure_component(
   COMPONENT fcl
   NAMESPACE tesseract
-  TARGETS ${PROJECT_NAME}_fcl ${PROJECT_NAME}_fcl_factories
+  TARGETS ${PROJECT_NAME}_fcl
   DEPENDENCIES "tesseract_collision COMPONENTS core" "fcl 0.6")
 
 if(TESSERACT_PACKAGE)
diff --git a/tesseract_kinematics/kdl/CMakeLists.txt b/tesseract_kinematics/kdl/CMakeLists.txt
index 6d89bcebfa1..24bb54bf641 100644
--- a/tesseract_kinematics/kdl/CMakeLists.txt
+++ b/tesseract_kinematics/kdl/CMakeLists.txt
@@ -65,10 +65,18 @@ install(
   PATTERN "*.h"
   PATTERN "*.hpp")
 
+# Plugin should not be export only installed
+install(
+  TARGETS ${PROJECT_NAME}_kdl_factories
+  COMPONENT kdl
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
+
 configure_component(
   COMPONENT kdl
   NAMESPACE tesseract
-  TARGETS ${PROJECT_NAME}_kdl ${PROJECT_NAME}_kdl_factories
+  TARGETS ${PROJECT_NAME}_kdl
   DEPENDENCIES orocos_kdl "tesseract_kinematics COMPONENTS core")
 
 if(TESSERACT_PACKAGE)
diff --git a/tesseract_kinematics/opw/CMakeLists.txt b/tesseract_kinematics/opw/CMakeLists.txt
index 277c7d35baa..f7b467a0769 100644
--- a/tesseract_kinematics/opw/CMakeLists.txt
+++ b/tesseract_kinematics/opw/CMakeLists.txt
@@ -50,10 +50,18 @@ install(
   PATTERN "*.h"
   PATTERN "*.hpp")
 
+# Plugin should not be export only installed
+install(
+  TARGETS ${PROJECT_NAME}_opw_factory
+  COMPONENT opw
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
+
 configure_component(
   COMPONENT opw
   NAMESPACE tesseract
-  TARGETS ${PROJECT_NAME}_opw ${PROJECT_NAME}_opw_factory
+  TARGETS ${PROJECT_NAME}_opw
   DEPENDENCIES opw_kinematics "tesseract_kinematics COMPONENTS core")
 
 if(TESSERACT_PACKAGE)
diff --git a/tesseract_kinematics/ur/CMakeLists.txt b/tesseract_kinematics/ur/CMakeLists.txt
index 5b46369f8b0..07290812c2f 100644
--- a/tesseract_kinematics/ur/CMakeLists.txt
+++ b/tesseract_kinematics/ur/CMakeLists.txt
@@ -47,10 +47,18 @@ install(
   PATTERN "*.h"
   PATTERN "*.hpp")
 
+# Plugin should not be export only installed
+install(
+  TARGETS ${PROJECT_NAME}_ur_factory
+  COMPONENT ur
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
+
 configure_component(
   COMPONENT ur
   NAMESPACE tesseract
-  TARGETS ${PROJECT_NAME}_ur ${PROJECT_NAME}_ur_factory
+  TARGETS ${PROJECT_NAME}_ur
   DEPENDENCIES "tesseract_kinematics COMPONENTS core")
 
 if(TESSERACT_PACKAGE)