diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 6b1f2debb8..490ee8f531 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -15,7 +15,6 @@ include(ConfigExtras.cmake)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
 
-# TODO: Move collision detection into separate packages
 find_package(Bullet 2.87 REQUIRED)
 
 find_package(PkgConfig REQUIRED)
@@ -61,7 +60,7 @@ set(THIS_PACKAGE_INCLUDE_DIRS
     backtrace/include
     collision_detection/include
     collision_detection_fcl/include
-    ${BULLET_INC}
+    collision_detection_bullet/include
     constraint_samplers/include
     controller_manager/include
     distance_field/include
@@ -97,7 +96,7 @@ set(THIS_PACKAGE_LIBRARIES
     moveit_planning_interface
     moveit_collision_detection
     moveit_collision_detection_fcl
-    ${BULLET_LIB}
+    moveit_collision_detection_bullet
     moveit_kinematic_constraints
     moveit_planning_scene
     moveit_constraint_samplers
@@ -134,13 +133,14 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   Eigen3
   eigen3_cmake_module
   OCTOMAP
-  ${BULLET_ENABLE}
+  Bullet
 )
+
 pluginlib_export_plugin_description_file(moveit_core collision_detector_fcl_description.xml)
+pluginlib_export_plugin_description_file(moveit_core collision_detector_bullet_description.xml)
 
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS}
   ${LIBFCL_INCLUDE_DIRS}
-  ${BULLET_INCLUDE_DIRS}
 )
 
 include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
@@ -182,12 +182,9 @@ add_subdirectory(distance_field)
 add_subdirectory(collision_distance_field)
 add_subdirectory(kinematics_metrics)
 add_subdirectory(dynamics_solver)
-# TODO(henningkayser): enable bullet once the library is migrated to ROS2
-if(BULLET_ENABLE)
 add_subdirectory(collision_detection_bullet)
-else()
-install(FILES collision_detection_bullet/empty_description.xml DESTINATION share/${PROJECT_NAME} RENAME collision_detector_bullet_description.xml)
-endif()
+
+pluginlib_export_plugin_description_file(moveit_core collision_detector_bullet_description.xml)
 
 # TODO: Port python bindings
 # add_subdirectory(python)
diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
index 27fbd79504..5d8e87d9a3 100644
--- a/moveit_core/collision_detection_bullet/CMakeLists.txt
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -1,6 +1,6 @@
 set(MOVEIT_LIB_NAME moveit_collision_detection_bullet)
 
-add_library(${MOVEIT_LIB_NAME}
+add_library(${MOVEIT_LIB_NAME} SHARED
   src/bullet_integration/bullet_utils.cpp
   src/bullet_integration/bullet_discrete_bvh_manager.cpp
   src/bullet_integration/bullet_cast_bvh_manager.cpp
@@ -10,7 +10,9 @@ add_library(${MOVEIT_LIB_NAME}
   src/bullet_integration/ros_bullet_utils.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-
+ament_target_dependencies(${MOVEIT_LIB_NAME} SYSTEM
+  BULLET
+)
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
   rmw_implementation
@@ -22,11 +24,13 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
 )
 target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_collision_detection
-  ${BULLET_LIBRARIES}
 )
 
-add_library(collision_detector_bullet_plugin src/collision_detector_bullet_plugin_loader.cpp)
+add_library(collision_detector_bullet_plugin SHARED src/collision_detector_bullet_plugin_loader.cpp)
 set_target_properties(collision_detector_bullet_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ament_target_dependencies(collision_detector_bullet_plugin SYSTEM
+  BULLET
+)
 ament_target_dependencies(collision_detector_bullet_plugin
   rclcpp
   urdf
@@ -39,15 +43,13 @@ target_link_libraries(collision_detector_bullet_plugin
   moveit_planning_scene
 )
 
+install(DIRECTORY include/ DESTINATION include)
 install(TARGETS ${MOVEIT_LIB_NAME} EXPORT ${MOVEIT_LIB_NAME}
   TARGETS collision_detector_bullet_plugin EXPORT collision_detector_bullet_plugin
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin
 )
-install(DIRECTORY include/ DESTINATION include)
-
-install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(BUILD_TESTING)
   if(WIN32)
diff --git a/moveit_core/collision_detector_bullet_description.xml b/moveit_core/collision_detector_bullet_description.xml
index 4065ee048d..1f85a88322 100644
--- a/moveit_core/collision_detector_bullet_description.xml
+++ b/moveit_core/collision_detector_bullet_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libcollision_detector_bt_plugin">
+<library path="collision_detector_bullet_plugin">
   <class name="Bullet" type="collision_detection::CollisionDetectorBtPluginLoader"
   base_class_type="collision_detection::CollisionPlugin">
     <description>