diff --git a/classes/ros2_distro.bbclass b/classes/ros2_distro.bbclass
index cdd9e1b..4d632a7 100644
--- a/classes/ros2_distro.bbclass
+++ b/classes/ros2_distro.bbclass
@@ -10,3 +10,14 @@ def ros_distro__get_component_type(component, d):
 
 # *.cmake files has hardcoded sysroot-s in them. We assume this is only an issue with ROS 2.
 SSTATE_SCAN_FILES_append = " *.cmake"
+
+# The parent_prefix_path files are used on the target => remove the build tree from the paths. We assume this is only an issue
+# with ROS 2.
+do_install_append_class-target() {
+    if [ -d ${D}${datadir}/ament_index/resource_index/parent_prefix_path ]; then
+        find ${D}${datadir}/ament_index/resource_index/parent_prefix_path -type f \
+            | xargs --no-run-if-empty sed -i -e 's@${STAGING_DIR_HOST}/@/@g' -e 's@${STAGING_DIR_NATIVE}/@/@g'
+    else
+        true
+    fi
+}