diff --git a/config/host/generic/build.sh b/config/host/generic/build.sh
index 31d497db..88fa746c 100755
--- a/config/host/generic/build.sh
+++ b/config/host/generic/build.sh
@@ -6,4 +6,10 @@ set +o nounset
 . install/local_setup.bash
 set -o nounset
 
+colcon build --packages-up-to service_msgs unique_identifier_msgs --metas src --cmake-args -DBUILD_TESTING=OFF -DBUILD_SHARED_LIBS=ON $@
+
+set +o nounset
+. install/local_setup.bash
+set -o nounset
+
 colcon build --metas src --cmake-args -DBUILD_TESTING=OFF -DBUILD_SHARED_LIBS=ON $@
diff --git a/scripts/build_firmware.sh b/scripts/build_firmware.sh
index 96a2c865..e82cc0fe 100755
--- a/scripts/build_firmware.sh
+++ b/scripts/build_firmware.sh
@@ -76,3 +76,17 @@ else
     . $PREFIX/config/$RTOS/$PLATFORM/build.sh
 fi
 
+######## Fix include paths  ########
+if [ "$RTOS" != "host" ]; then
+    cd "$FW_TARGETDIR/mcu_ws"
+    INCLUDE_ROS2_PACKAGES=$(colcon list | awk '{print $1}' | awk -v d=" " '{s=(NR==1?s:s d)$0}END{print s}')
+
+    for var in ${INCLUDE_ROS2_PACKAGES}; do
+        if [ -d "$FW_TARGETDIR/build/include/${var}/${var}" ]; then
+            mkdir -p "$FW_TARGETDIR/build/include/${var}"
+            cp -a "$FW_TARGETDIR/build/include/${var}/${var}/". "$FW_TARGETDIR/build/include/${var}/"
+            rm -rf "$FW_TARGETDIR/build/include/${var}/${var}"
+        fi
+    done
+fi
+