diff --git a/moveit_core/exceptions/CMakeLists.txt b/moveit_core/exceptions/CMakeLists.txt
index 6b80cf3c28..eae26725ab 100644
--- a/moveit_core/exceptions/CMakeLists.txt
+++ b/moveit_core/exceptions/CMakeLists.txt
@@ -3,9 +3,9 @@ set(MOVEIT_LIB_NAME moveit_exceptions)
 add_library(${MOVEIT_LIB_NAME} src/exceptions.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${MOVEIT_LIB_NAME} ${rclcpp_LIBRARIES} ${rmw_implementation_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
-install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+        LIBRARY DESTINATION lib
+        ARCHIVE DESTINATION lib)
+install(DIRECTORY include/ DESTINATION include)
diff --git a/moveit_core/exceptions/src/exceptions.cpp b/moveit_core/exceptions/src/exceptions.cpp
index 864d615331..1b621bab11 100644
--- a/moveit_core/exceptions/src/exceptions.cpp
+++ b/moveit_core/exceptions/src/exceptions.cpp
@@ -35,14 +35,18 @@
 /* Author: Acorn Pooley, Ioan Sucan */
 
 #include <moveit/exceptions/exceptions.h>
-#include <ros/console.h>
+#include <rcutils/logging_macros.h>
+#include "rclcpp/rclcpp.hpp"
+
+// Logger
+rclcpp::Logger logger_exceptions = rclcpp::get_logger("exceptions");
 
 moveit::ConstructException::ConstructException(const std::string& what_arg) : std::runtime_error(what_arg)
 {
-  ROS_ERROR_NAMED("exceptions", "Error during construction of object: %s\nException thrown.", what_arg.c_str());
+  RCLCPP_ERROR(logger_exceptions, "Error during construction of object: %s\nException thrown.", what_arg.c_str());
 }
 
 moveit::Exception::Exception(const std::string& what_arg) : std::runtime_error(what_arg)
 {
-  ROS_ERROR_NAMED("exceptions", "%s\nException thrown.", what_arg.c_str());
+  RCLCPP_ERROR(logger_exceptions, "%s\nException thrown.", what_arg.c_str());
 }