diff --git a/CMakeLists.txt b/CMakeLists.txt
index d930b97..debd7aa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -184,6 +184,11 @@ ament_export_dependencies(
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 
 if(BUILD_TESTING)
+  add_test(NAME test_public_headers
+    COMMAND ${CMAKE_COMMAND} -DSOURCE_DIR=${CMAKE_CURRENT_SOURCE_DIR}
+      -P ${CMAKE_CURRENT_SOURCE_DIR}/tests/check_public_headers.cmake
+  )
+
   find_package(ament_cmake_gtest REQUIRED)
 
   ament_add_gtest(test_torque_rate_saturation
diff --git a/include/crisp_controllers/utils/friction_model.hpp b/include/crisp_controllers/utils/friction_model.hpp
index 20635a8..e5cf0b7 100644
--- a/include/crisp_controllers/utils/friction_model.hpp
+++ b/include/crisp_controllers/utils/friction_model.hpp
@@ -2,8 +2,6 @@
 // Based in
 // https://github.com/marcocognetti/FrankaEmikaPandaDynModel/tree/master
 
-#include <Eigen/src/Core/GlobalFunctions.h>
-#include <Eigen/src/Core/Matrix.h>
 #include <Eigen/Core>
 
 inline Eigen::VectorXd get_friction(
diff --git a/src/cartesian_admittance_controller.cpp b/src/cartesian_admittance_controller.cpp
index e58013d..ec43f28 100644
--- a/src/cartesian_admittance_controller.cpp
+++ b/src/cartesian_admittance_controller.cpp
@@ -3,7 +3,7 @@
 #include <cmath>
 #include <cstddef>
 
-#include <Eigen/src/Core/Matrix.h>  // NOLINT(build/include_order)
+#include <Eigen/Core>
 #include <fmt/format.h>
 #include <controller_interface/controller_interface_base.hpp>
 #include <rclcpp/logging.hpp>
diff --git a/src/cartesian_controller.cpp b/src/cartesian_controller.cpp
index f1d8bd8..f014aa3 100644
--- a/src/cartesian_controller.cpp
+++ b/src/cartesian_controller.cpp
@@ -3,7 +3,7 @@
 #include <cmath>
 #include <cstddef>
 
-#include <Eigen/src/Core/Matrix.h>  // NOLINT(build/include_order)
+#include <Eigen/Core>
 #include <fmt/format.h>
 #include <controller_interface/controller_interface_base.hpp>
 #include <rclcpp/logging.hpp>
diff --git a/src/pose_broadcaster.cpp b/src/pose_broadcaster.cpp
index e0101ed..2bebb19 100644
--- a/src/pose_broadcaster.cpp
+++ b/src/pose_broadcaster.cpp
@@ -1,9 +1,8 @@
-#include <binders.h>
 #include <cassert>
 #include <cmath>
 #include <memory>
 
-#include <Eigen/src/Core/Matrix.h>  // NOLINT(build/include_order)
+#include <Eigen/Geometry>
 #include <crisp_controllers/pose_broadcaster.hpp>
 #include "crisp_controllers/utils/ros2_version.hpp"
 
diff --git a/src/twist_broadcaster.cpp b/src/twist_broadcaster.cpp
index 358758e..46fc1ff 100644
--- a/src/twist_broadcaster.cpp
+++ b/src/twist_broadcaster.cpp
@@ -1,9 +1,8 @@
-#include <binders.h>
 #include <cassert>
 #include <cmath>
 #include <memory>
 
-#include <Eigen/src/Core/Matrix.h>  // NOLINT(build/include_order)
+#include <Eigen/Core>
 #include <crisp_controllers/twist_broadcaster.hpp>
 #include "crisp_controllers/utils/ros2_version.hpp"
 
diff --git a/tests/check_public_headers.cmake b/tests/check_public_headers.cmake
new file mode 100644
index 0000000..9091826
--- /dev/null
+++ b/tests/check_public_headers.cmake
@@ -0,0 +1,14 @@
+# Production headers must not depend on Eigen or libstdc++ implementation headers.
+file(GLOB_RECURSE production_sources
+  "${SOURCE_DIR}/src/*.cpp"
+  "${SOURCE_DIR}/include/*.hpp"
+  "${SOURCE_DIR}/include/*.h"
+)
+foreach(source IN LISTS production_sources)
+  file(STRINGS "${source}" includes REGEX "^[ \t]*#[ \t]*include")
+  foreach(include IN LISTS includes)
+    if(include MATCHES "[<\"](Eigen/src/|binders[.]h[>\"]|backward/|bits/)")
+      message(FATAL_ERROR "Private implementation header in ${source}: ${include}")
+    endif()
+  endforeach()
+endforeach()