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
+