diff --git a/canopen_fake_slaves/CMakeLists.txt b/canopen_fake_slaves/CMakeLists.txt
index 7a3034c7..3297f9dd 100644
--- a/canopen_fake_slaves/CMakeLists.txt
+++ b/canopen_fake_slaves/CMakeLists.txt
@@ -12,6 +12,17 @@ find_package(lifecycle_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 
+add_library(
+  motion_generator
+  SHARED
+  "src/motion_generator.cpp"
+)
+target_compile_features(motion_generator  PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_include_directories(motion_generator  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+
 set(dependencies
   lely_core_libraries
   lifecycle_msgs
@@ -38,7 +49,6 @@ ament_target_dependencies(
 add_executable(
   cia402_slave_node
   "src/cia402_slave.cpp"
-  "src/motion_generator.cpp"
 )
 target_compile_features(cia402_slave_node  PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
 target_include_directories(cia402_slave_node  PUBLIC
@@ -50,6 +60,14 @@ ament_target_dependencies(
   ${dependencies}
 )
 
+target_link_libraries(
+  cia402_slave_node
+  motion_generator
+)
+
+install(TARGETS motion_generator
+DESTINATION lib/${PROJECT_NAME})
+
 install(TARGETS basic_slave_node
   DESTINATION lib/${PROJECT_NAME})