diff --git a/grid_map_core/CMakeLists.txt b/grid_map_core/CMakeLists.txt
index cbf8ff5da..c34d1e541 100644
--- a/grid_map_core/CMakeLists.txt
+++ b/grid_map_core/CMakeLists.txt
@@ -5,8 +5,7 @@ project(grid_map_core)
 find_package(ament_cmake REQUIRED)
 find_package(grid_map_cmake_helpers REQUIRED)
 
-## Define Eigen addons.
-include(cmake/${PROJECT_NAME}-extras.cmake)
+
 
 ## System dependencies are found with CMake's conventions
 find_package(Eigen3 REQUIRED)
@@ -35,6 +34,9 @@ add_library(${PROJECT_NAME}
   src/iterators/SlidingWindowIterator.cpp
 )
 
+## Define Eigen addons.
+include(cmake/${PROJECT_NAME}-extras.cmake)
+
 ## Specify additional locations of header files
 target_include_directories(${PROJECT_NAME}
   PUBLIC
@@ -127,6 +129,7 @@ endif()
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(Eigen3)
-ament_package(CONFIG_EXTRAS
-  cmake/${PROJECT_NAME}-extras.cmake
-)
+ament_package()
+#ament_package(CONFIG_EXTRAS
+#  cmake/${PROJECT_NAME}-extras.cmake
+#)
diff --git a/grid_map_core/cmake/grid_map_core-extras.cmake b/grid_map_core/cmake/grid_map_core-extras.cmake
index dd4089d4e..6f0c0c420 100644
--- a/grid_map_core/cmake/grid_map_core-extras.cmake
+++ b/grid_map_core/cmake/grid_map_core-extras.cmake
@@ -4,7 +4,7 @@ if(EIGEN_FUNCTORS_PLUGIN)
     message(FATAL_ERROR "EIGEN_FUNCTORS_PLUGIN already defined")
   endif()
 else()
-  add_definitions(-DEIGEN_FUNCTORS_PLUGIN=\"${EIGEN_FUNCTORS_PLUGIN_PATH}\")
+  target_compile_definitions(grid_map_core PUBLIC EIGEN_FUNCTORS_PLUGIN=\"${EIGEN_FUNCTORS_PLUGIN_PATH}\")
 endif()
 
 set(EIGEN_DENSEBASE_PLUGIN_PATH "grid_map_core/eigen_plugins/DenseBasePlugin.hpp")
@@ -13,5 +13,5 @@ if(EIGEN_DENSEBASE_PLUGIN)
     message(FATAL_ERROR "EIGEN_DENSEBASE_PLUGIN already defined!")
   endif()
 else()
-    add_definitions(-DEIGEN_DENSEBASE_PLUGIN=\"${EIGEN_DENSEBASE_PLUGIN_PATH}\")
+    target_compile_definitions(grid_map_core PUBLIC EIGEN_DENSEBASE_PLUGIN=\"${EIGEN_DENSEBASE_PLUGIN_PATH}\")
 endif()
\ No newline at end of file
diff --git a/issue382/CMakeLists.txt b/issue382/CMakeLists.txt
new file mode 100644
index 000000000..b67df731d
--- /dev/null
+++ b/issue382/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.15)
+project(issue382)
+
+find_package(grid_map_core CONFIG REQUIRED)
+find_package(Eigen3 CONFIG REQUIRED)
+
+
+add_executable(main1 main1.cpp)
+target_link_libraries(main1 PRIVATE grid_map_core::grid_map_core)
+
+
+add_executable(main2 main2.cpp)
+target_link_libraries(main2 PRIVATE Eigen3::Eigen)
\ No newline at end of file
diff --git a/issue382/main1.cpp b/issue382/main1.cpp
new file mode 100644
index 000000000..8b62176f4
--- /dev/null
+++ b/issue382/main1.cpp
@@ -0,0 +1,11 @@
+#include <Eigen/Core>
+
+int main() {
+
+    Eigen::VectorXd v(10);
+    v[0] = 0.1;
+    v[1] = 0.2;
+    v(0) = 0.3;
+    v(1) = 0.4;
+    return 0;
+}
\ No newline at end of file
diff --git a/issue382/main2.cpp b/issue382/main2.cpp
new file mode 100644
index 000000000..26561340d
--- /dev/null
+++ b/issue382/main2.cpp
@@ -0,0 +1,12 @@
+#include <Eigen/Core>
+
+
+int main() {
+
+    Eigen::VectorXd v(10);
+    v[0] = 0.1;
+    v[1] = 0.2;
+    v(0) = 0.3;
+    v(1) = 0.4;
+    return 0;
+}
\ No newline at end of file
diff --git a/issue382/package.xml b/issue382/package.xml
new file mode 100644
index 000000000..22d8afbd5
--- /dev/null
+++ b/issue382/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>issue382</name>
+  <version>2.0.0</version>
+  <description>foo.</description>
+  <maintainer email="rf@foo.com">ryan f</maintainer>
+  <maintainer email="ynava@anybotics.com">Yoshua Nava</maintainer>
+  <maintainer email="ryanfriedman5410+grid_map@gmail.com">Ryan Friedman</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>grid_map_core</depend>
+  <depend>eigen</depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>