diff --git a/softwareComponents/rofiHalEsp32/CMakeLists.txt b/softwareComponents/rofiHalEsp32/CMakeLists.txt
index bee72a100..da3eb630e 100644
--- a/softwareComponents/rofiHalEsp32/CMakeLists.txt
+++ b/softwareComponents/rofiHalEsp32/CMakeLists.txt
@@ -3,7 +3,8 @@ file(GLOB_RECURSE SRC src/*.cpp src/*.c)
 add_library(rofi_hal_esp32 ${SRC})
 target_include_directories(rofi_hal_esp32 PUBLIC src)
 set_property(TARGET rofi_hal_esp32 PROPERTY CXX_STANDARD 17)
-target_link_libraries(rofi_hal_esp32 PUBLIC idf::driver atoms lwip++ rofi_hal_inc)
+target_link_libraries(rofi_hal_esp32 PRIVATE idf::driver atoms)
+target_link_libraries(rofi_hal_esp32 PUBLIC rofi_hal_inc)
 target_compile_options(rofi_hal_esp32 PUBLIC -mtext-section-literals -mlongcalls)
 
 add_library(rofi::hal::esp32 ALIAS rofi_hal_esp32)
diff --git a/softwareComponents/rofiHalInc/CMakeLists.txt b/softwareComponents/rofiHalInc/CMakeLists.txt
index fa41a33f2..d51e6f09e 100644
--- a/softwareComponents/rofiHalInc/CMakeLists.txt
+++ b/softwareComponents/rofiHalInc/CMakeLists.txt
@@ -1,4 +1,5 @@
 add_library(rofi_hal_inc INTERFACE)
-target_include_directories(rofi_hal_inc PUBLIC INTERFACE include)
+target_include_directories(rofi_hal_inc INTERFACE include)
+target_link_libraries(rofi_hal_inc INTERFACE lwip++)
 
 add_library(rofi::hal::inc ALIAS rofi_hal_inc)
diff --git a/softwareComponents/rofiHalSim/CMakeLists.txt b/softwareComponents/rofiHalSim/CMakeLists.txt
index 7bdd8f822..aeb32e4b3 100644
--- a/softwareComponents/rofiHalSim/CMakeLists.txt
+++ b/softwareComponents/rofiHalSim/CMakeLists.txt
@@ -4,7 +4,7 @@ cmake_minimum_required(VERSION 3.11)
 
 add_library(rofi_hal_sim SHARED rofi_hal.cpp)
 target_link_libraries(rofi_hal_sim PRIVATE ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} rofisimMessages atoms)
-target_link_libraries(rofi_hal_sim PUBLIC lwip++ rofi::hal::inc)
+target_link_libraries(rofi_hal_sim PUBLIC rofi::hal::inc)
 target_include_directories(rofi_hal_sim SYSTEM PRIVATE ${GAZEBO_INCLUDE_DIRS})
 
 add_library(rofi::hal::sim ALIAS rofi_hal_sim)
diff --git a/softwareComponents/rofiHalSimPy/CMakeLists.txt b/softwareComponents/rofiHalSimPy/CMakeLists.txt
index 7bdc88d81..b2ae40adf 100644
--- a/softwareComponents/rofiHalSimPy/CMakeLists.txt
+++ b/softwareComponents/rofiHalSimPy/CMakeLists.txt
@@ -2,4 +2,4 @@ cmake_minimum_required(VERSION 3.11)
 
 
 pybind11_add_module(pyRofiHal hal.cpp)
-target_link_libraries(pyRofiHal PRIVATE rofi::hal::sim)
+target_link_libraries(pyRofiHal PRIVATE rofi::hal)