diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 90799d6..475a892 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -112,6 +112,14 @@ else()
     ${PROJECT_NAME} PUBLIC urdfdom::urdfdom orocos-kdl::orocos-kdl
                            tinyxml::tinyxml tinyxml2::tinyxml2)
 
+  set(KDL_PARSER_PUBLIC_HEADERS "include/kdl_parser/kdl_parser.hpp"
+                                "include/kdl_parser/visibility_control.hpp")
+
+  set_target_properties(${PROJECT_NAME}
+                        PROPERTIES PUBLIC_HEADER "${KDL_PARSER_PUBLIC_HEADERS}")
+  install(TARGETS ${PROJECT_NAME}
+          PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/kdl_parser)
+
   if(NOT BUILD_TESTING STREQUAL OFF)
     enable_testing()
 
diff --git a/kdl_parser/conanfile.py b/kdl_parser/conanfile.py
index 3fb5b6d..005f21e 100644
--- a/kdl_parser/conanfile.py
+++ b/kdl_parser/conanfile.py
@@ -25,18 +25,17 @@ class kdl_parserRecipe(ConanFile):
     exports_sources = (
         "CMakeLists.txt",
         "src/*",
-        "tests/*",
+        "test/*",
         "include/*",
     )
 
     def requirements(self):
-        self.requires("orocos-kdl/[>=1.5.1 <2]")
-        self.requires("tinyxml/[>=2.6.0 <3]")
-        self.requires("tinyxml2/[>=11.0.0 <13.0.0]")
-        self.requires("urdfdom/[>=3.1.1 <5.0.0]")
-        self.requires("urdfdom_headers/[>=1.1.1 <2]")
+        self.requires("orocos-kdl/[>=1.5.1 <2]", transitive_headers=True, transitive_libs=True)
+        self.requires("tinyxml/[>=2.6.0 <3]", transitive_headers=True)
+        self.requires("tinyxml2/[>=11.0.0 <13.0.0]", transitive_headers=True)
+        self.requires("urdfdom/[>=3.1.1 <5.0.0]", transitive_headers=True)
         self.tool_requires("cmake/[>=3.12 <5]")
-        self.test_requires("gtest/[>=1.11]")
+        self.test_requires("gtest/[>=1.11 <2.0]")
 
     def validate(self):
         check_min_cppstd(self, "14")
@@ -66,6 +65,9 @@ class kdl_parserRecipe(ConanFile):
         cmake = CMake(self)
         cmake.configure()
         cmake.build()
+        if can_run(self):
+            cmake.test()
+        cmake.install()
 
     def package(self):
         cmake = CMake(self)
diff --git a/kdl_parser/test_package/CMakeLists.txt b/kdl_parser/test_package/CMakeLists.txt
new file mode 100644
index 0000000..cfd8103
--- /dev/null
+++ b/kdl_parser/test_package/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.12)
+project(test_package LANGUAGES CXX)
+
+find_package(kdl_parser CONFIG REQUIRED)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+target_link_libraries(${PROJECT_NAME} PRIVATE kdl_parser::kdl_parser)
diff --git a/kdl_parser/test_package/conanfile.py b/kdl_parser/test_package/conanfile.py
new file mode 100644
index 0000000..1476c8e
--- /dev/null
+++ b/kdl_parser/test_package/conanfile.py
@@ -0,0 +1,26 @@
+import os
+
+from conan import ConanFile
+from conan.tools.cmake import CMake, cmake_layout
+from conan.tools.build import can_run
+
+
+class kdl_parserTestConan(ConanFile):
+    settings = "os", "compiler", "build_type", "arch"
+    generators = "CMakeDeps", "CMakeToolchain"
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def layout(self):
+        cmake_layout(self)
+
+    def test(self):
+        if can_run(self):
+            cmd = os.path.join(self.cpp.build.bindir, "test_package")
+            self.run(cmd, env="conanrun")
\ No newline at end of file
diff --git a/kdl_parser/test_package/test_package.cpp b/kdl_parser/test_package/test_package.cpp
new file mode 100644
index 0000000..132ce95
--- /dev/null
+++ b/kdl_parser/test_package/test_package.cpp
@@ -0,0 +1,12 @@
+#include <kdl_parser/kdl_parser.hpp>
+
+int main()
+{
+    KDL::Tree tree;
+    std::string xml_string = "<robot name=\"test_robot\"><link name=\"base_link\"/></robot>";
+    if (!kdl_parser::treeFromString(xml_string, tree))
+    {
+        return 1; // Failed to parse the KDL tree from the string
+    }
+    return 0;
+}
\ No newline at end of file