diff --git a/src/rktl_dependencies/setup.py b/src/rktl_dependencies/setup.py
index 10167f7b..15152f48 100644
--- a/src/rktl_dependencies/setup.py
+++ b/src/rktl_dependencies/setup.py
@@ -1,3 +1,5 @@
+from glob import glob
+import os
 from setuptools import find_packages, setup
 
 package_name = 'rktl_dependencies'
@@ -10,6 +12,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('lib', package_name), glob(os.path.join(package_name, '*.py'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/rktl_game/setup.py b/src/rktl_game/setup.py
index bd1fcc35..a4b5f218 100644
--- a/src/rktl_game/setup.py
+++ b/src/rktl_game/setup.py
@@ -13,6 +13,7 @@
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
+        (os.path.join('lib', package_name), glob(os.path.join(package_name, '*.py'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/rktl_perception/setup.py b/src/rktl_perception/setup.py
index b3d7a96e..5ee92e73 100644
--- a/src/rktl_perception/setup.py
+++ b/src/rktl_perception/setup.py
@@ -13,6 +13,7 @@
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
+        (os.path.join('lib', package_name), glob(os.path.join(package_name, '*.py'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/rktl_planner/setup.py b/src/rktl_planner/setup.py
index f257d02d..e004ef1d 100644
--- a/src/rktl_planner/setup.py
+++ b/src/rktl_planner/setup.py
@@ -13,6 +13,7 @@
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
+        (os.path.join('lib', package_name), glob(os.path.join(package_name, '*.py'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/rktl_sim/setup.py b/src/rktl_sim/setup.py
index 87412f21..6c96ebad 100644
--- a/src/rktl_sim/setup.py
+++ b/src/rktl_sim/setup.py
@@ -13,6 +13,7 @@
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
+        (os.path.join('lib', package_name), glob(os.path.join(package_name, '*.py'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -23,6 +24,12 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+            'simulator = rktl_sim.simulator:main',
+            'visualizer = rktl_sim.visualizer:main',
+            'car = rktl_sim.car:main',
+            'sim = rktl_sim.sim:main',
+            'asset = rktl_sim.asset:main',
+            'window = rktl_sim.window:main'
         ],
     },
 )