diff --git a/CMakeLists.txt b/CMakeLists.txt
index b1075c458..16793a431 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -85,6 +85,7 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
       ./idl.cmake
       ./idlrtc.cmake
       ./install-data.cmake
+      ./install-helpers.cmake
       ./julia.cmake
       ./kineo.cmake
       ./lapack.cmake
@@ -101,6 +102,8 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
       ./openrtm.cmake
       ./oscheck.cmake
       ./package-config.cmake
+      ./package.xml
+      ./pixi.py
       ./pkg-config.cmake
       ./pkg-config.pc.cmake
       ./portability.cmake
@@ -114,7 +117,6 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
       ./release.cmake
       ./relpath.cmake
       ./ros.cmake
-      ./ros2.cmake
       ./sdformat.cmake
       ./setup.cfg
       ./shared-library.cmake
diff --git a/header.cmake b/header.cmake
index 79a782e94..56ad62a21 100644
--- a/header.cmake
+++ b/header.cmake
@@ -170,11 +170,16 @@ function(
   EXPORT_SYMBOL
 )
   generate_configuration_header_v2(
-    INCLUDE_DIR ${CMAKE_CURRENT_BINARY_DIR}/include
-    HEADER_DIR ${HEADER_DIR}
-    FILENAME ${FILENAME}
-    LIBRARY_NAME ${LIBRARY_NAME}
-    EXPORT_SYMBOL ${EXPORT_SYMBOL}
+    INCLUDE_DIR
+    ${CMAKE_CURRENT_BINARY_DIR}/include
+    HEADER_DIR
+    ${HEADER_DIR}
+    FILENAME
+    ${FILENAME}
+    LIBRARY_NAME
+    ${LIBRARY_NAME}
+    EXPORT_SYMBOL
+    ${EXPORT_SYMBOL}
   )
 endfunction(GENERATE_CONFIGURATION_HEADER)
 
@@ -271,19 +276,41 @@ endfunction(GENERATE_CONFIGURATION_HEADER_V2)
 macro(_SETUP_PROJECT_HEADER_FINALIZE)
   # If the header list is set, install it.
   if(DEFINED ${PROJECT_NAME}_HEADERS)
-    foreach(FILE ${${PROJECT_NAME}_HEADERS})
-      header_install(${FILE})
-    endforeach(FILE)
+    header_install(${${PROJECT_NAME}_HEADERS})
   endif(DEFINED ${PROJECT_NAME}_HEADERS)
 endmacro(_SETUP_PROJECT_HEADER_FINALIZE)
 
 # .rst: .. ifmode:: internal
 #
-# .. command:: HEADER_INSTALL (FILES)
+# ~~~
+# .. command:: HEADER_INSTALL (COMPONENT <component> <files>...)
+# ~~~
 #
 # Install a list of headers.
 #
-macro(HEADER_INSTALL FILES)
+# :param component: Component to forward to install command.
+#
+# :param files: Files to install.
+macro(HEADER_INSTALL)
+  set(options)
+  set(oneValueArgs COMPONENT)
+  set(multiValueArgs)
+  cmake_parse_arguments(
+    ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
+
+  if(ARGS_COMPONENT)
+    set(_COMPONENT_NAME ${ARGS_COMPONENT})
+  else()
+    set(_COMPONENT_NAME ${CMAKE_INSTALL_DEFAULT_COMPONENT_NAME})
+  endif()
+
+  set(FILES ${ARGS_UNPARSED_ARGUMENTS})
+
   foreach(FILE ${FILES})
     get_filename_component(DIR "${FILE}" PATH)
     string(REGEX REPLACE "${CMAKE_BINARY_DIR}" "" DIR "${DIR}")
@@ -293,6 +320,7 @@ macro(HEADER_INSTALL FILES)
       FILES ${FILE}
       DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/${DIR}"
       PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+      COMPONENT ${_COMPONENT_NAME}
     )
   endforeach()
 endmacro()
diff --git a/install-helpers.cmake b/install-helpers.cmake
new file mode 100644
index 000000000..ced94ca8c
--- /dev/null
+++ b/install-helpers.cmake
@@ -0,0 +1,49 @@
+# Copyright (C) 2024 INRIA.
+#
+# This program is free software: you can redistribute it and/or modify it under
+# the terms of the GNU Lesser General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option) any
+# later version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
+# details.
+#
+# You should have received a copy of the GNU Lesser General Public License along
+# with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+# .rst:
+# ~~~
+# .. command:: ADD_INSTALL_TARGET (
+#   NAME <name>
+#   COMPONENT <component>)
+# ~~~
+#
+# This function add a custom target named install-<name> that will run cmake
+# install for a specific <component>.
+#
+# :param name: Target name suffix (install-<name>).
+#
+# :param component: component to install.
+function(ADD_INSTALL_TARGET)
+  set(options)
+  set(oneValueArgs NAME COMPONENT)
+  set(multiValueArgs)
+  cmake_parse_arguments(
+    ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
+  set(target_name install-${ARGS_NAME})
+  set(component ${ARGS_COMPONENT})
+
+  add_custom_target(
+    ${target_name}
+    COMMAND
+      ${CMAKE_COMMAND} -DCOMPONENT=${component} -P
+      ${PROJECT_BINARY_DIR}/cmake_install.cmake
+  )
+endfunction()
diff --git a/python-helpers.cmake b/python-helpers.cmake
index a8050e3be..13b5a6a9f 100644
--- a/python-helpers.cmake
+++ b/python-helpers.cmake
@@ -13,25 +13,82 @@
 # You should have received a copy of the GNU General Public License along with
 # this program.  If not, see <http://www.gnu.org/licenses/>.
 
-# .rst: .. command::  PYTHON_INSTALL(MODULE FILE DEST)
+# .rst:
+#
+# ~~~
+# .. command:: PYTHON_INSTALL(<module> <file> <dest> COMPONENT <component>)
+# ~~~
 #
 # Compile and install a Python file.
 #
+# :param module: Python module name.
+#
+# :param file: Python file name.
+#
+# :param file: Installation directory.
+#
+# :param component: Component to forward to install command.
 macro(PYTHON_INSTALL MODULE FILE DEST)
+  set(options)
+  set(oneValueArgs COMPONENT)
+  set(multiValueArgs)
+  cmake_parse_arguments(
+    ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
+
+  if(ARGS_COMPONENT)
+    set(_COMPONENT_NAME ${ARGS_COMPONENT})
+  else()
+    set(_COMPONENT_NAME ${CMAKE_INSTALL_DEFAULT_COMPONENT_NAME})
+  endif()
+
   python_build("${MODULE}" "${FILE}")
 
   install(
     FILES "${CMAKE_CURRENT_SOURCE_DIR}/${MODULE}/${FILE}"
     DESTINATION "${DEST}/${MODULE}"
+    COMPONENT ${_COMPONENT_NAME}
   )
 endmacro()
 
-# .rst: .. command:: PYTHON_INSTALL_ON_SITE (MODULE FILE)
+# .rst:
+#
+# ~~~
+# .. command:: PYTHON_INSTALL_ON_SITE (<module> <file> COMPONENT <component>)
+# ~~~
 #
 # Compile and install a Python file in :cmake:variable:`PYTHON_SITELIB`.
 #
+# :param module: Python module name.
+#
+# :param file: Python file name.
+#
+# :param component: Component to forward to install command.
 macro(PYTHON_INSTALL_ON_SITE MODULE FILE)
-  python_install("${MODULE}" "${FILE}" ${PYTHON_SITELIB})
+  set(options)
+  set(oneValueArgs COMPONENT)
+  set(multiValueArgs)
+  cmake_parse_arguments(
+    ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
+
+  if(ARGS_COMPONENT)
+    set(_COMPONENT_NAME ${ARGS_COMPONENT})
+  else()
+    set(_COMPONENT_NAME ${CMAKE_INSTALL_DEFAULT_COMPONENT_NAME})
+  endif()
+
+  python_install("${MODULE}" "${FILE}" ${PYTHON_SITELIB} COMPONENT
+                 ${_COMPONENT_NAME}
+  )
 endmacro()
 
 # PYTHON_BUILD_GET_TARGET(TARGET)