diff --git a/src/catkin_lint/checks/build.py b/src/catkin_lint/checks/build.py
index 69b243e..f358b27 100644
--- a/src/catkin_lint/checks/build.py
+++ b/src/catkin_lint/checks/build.py
@@ -394,7 +394,7 @@ def on_catkin_package(info, cmd, args):
         if ext_includes:
             info.report(ERROR, "EXTERNAL_INCLUDE_PATH")
         info.export_libs |= set(opts["LIBRARIES"])
-        info.export_includes |= set([d for d in includes if not os.path.isabs(d)])
+        info.export_includes |= set(includes)
         info.export_packages |= set(opts["CATKIN_DEPENDS"])
         info.export_targets |= set(opts["EXPORTED_TARGETS"])
 
@@ -423,8 +423,11 @@ def on_final(info):
             for incl in info.export_includes - info.build_includes:
                 info.report(WARNING, "UNUSED_INCLUDE_PATH", path=incl, file_location=info.location_of("catkin_package"))
         for incl in info.export_includes:
-            if not info.is_existing_path(incl, check=os.path.isdir, require_source_folder=True):
+            pc = info.path_class(incl)
+            if pc == PathClass.SOURCE and not info.is_existing_path(incl, check=os.path.isdir):
                 info.report(ERROR, "MISSING_INCLUDE_PATH", path=incl, file_location=info.location_of("catkin_package"))
+            elif pc == PathClass.BINARY:
+                info.report(ERROR, "BUILD_INCLUDE_PATH", path=incl, file_location=info.location_of("catkin_package"))
         includes = info.build_includes | info.export_includes
         for d1 in includes:
             if not posixpath.isabs(d1):
diff --git a/src/catkin_lint/diagnostics.py b/src/catkin_lint/diagnostics.py
index 8441d7f..4f646c6 100644
--- a/src/catkin_lint/diagnostics.py
+++ b/src/catkin_lint/diagnostics.py
@@ -372,6 +372,14 @@
         You have listed an invalid include path in the INCLUDE_DIRS stanza of the
         catkin_package() command.
         """),
+    "BUILD_INCLUDE_PATH":
+    ("catkin_package() exports build include path",
+        """\
+        You listed a build path below ${CMAKE_BINARY_DIR} in the INCLUDE_DIRS stanza
+        of your catkin_package() call. These paths are only available for develspace
+        builds and will be missing for installed packages.
+        """
+    ),
     "EXTERNAL_INCLUDE_PATH":
     ("catkin_package() exports non-package include path",
         """\
diff --git a/src/catkin_lint/linter.py b/src/catkin_lint/linter.py
index 9073316..2dde4f4 100644
--- a/src/catkin_lint/linter.py
+++ b/src/catkin_lint/linter.py
@@ -215,26 +215,28 @@ def is_existing_path(self, path, check=os.path.exists, require_source_folder=Fal
         if check(os.path.normpath(os.path.join(self.path, self.subdir, tmp))):
             return True
         tmp = posixpath.normpath(posixpath.join(self.var["CMAKE_CURRENT_SOURCE_DIR"], path.replace(os.path.sep, "/")))
+        print(path, tmp, PathConstants.PACKAGE_BINARY)
         if tmp.startswith(PathConstants.PACKAGE_SOURCE):
             if not require_source_folder and not posixpath.isabs(path) and tmp[len(PathConstants.PACKAGE_SOURCE) + 1:] in self.generated_files:
                 return True
             if not require_source_folder and tmp in self.generated_files:
                 return True
             return check(os.path.join(self.path, os.path.normpath(tmp[len(PathConstants.PACKAGE_SOURCE) + 1:])))
-        if not require_source_folder and tmp.startswith(PathConstants.PACKAGE_BINARY):
-            return tmp[len(PathConstants.PACKAGE_BINARY) + 1:] in self.generated_files
-        if not require_source_folder and tmp in self.generated_files:
-            return True
-        if not require_source_folder and tmp.startswith(PathConstants.CATKIN_DEVEL):
-            s = tmp[len(PathConstants.CATKIN_DEVEL) + 1:]
-            for t in ["include", "lib", "share", "bin"]:
-                if s.startswith(t):
-                    return True
-        if not require_source_folder and tmp.startswith(PathConstants.CATKIN_INSTALL):
-            s = tmp[len(PathConstants.CATKIN_INSTALL) + 1:]
-            for t in ["include", "lib", "share", "bin"]:
-                if s.startswith(t):
-                    return True
+        if not require_source_folder:
+            if tmp.startswith(PathConstants.PACKAGE_BINARY):
+                return tmp[len(PathConstants.PACKAGE_BINARY) + 1:] in self.generated_files
+            if tmp.startswith(PathConstants.CATKIN_DEVEL):
+                s = tmp[len(PathConstants.CATKIN_DEVEL) + 1:]
+                for t in ["include", "lib", "share", "bin"]:
+                    if s.startswith(t):
+                        return True
+            if tmp.startswith(PathConstants.CATKIN_INSTALL):
+                s = tmp[len(PathConstants.CATKIN_INSTALL) + 1:]
+                for t in ["include", "lib", "share", "bin"]:
+                    if s.startswith(t):
+                        return True
+            if tmp in self.generated_files:
+                return True
         return tmp.startswith(PathConstants.DISCOVERED_PATH) and discovered_path_ok
 
     def is_internal_path(self, path):
diff --git a/test/test_checks_build.py b/test/test_checks_build.py
index f97c412..7a2be83 100644
--- a/test/test_checks_build.py
+++ b/test/test_checks_build.py
@@ -1023,7 +1023,7 @@ def test_exports(self):
             )
             """,
                            checks=cc.exports)
-        self.assertEqual([], result)
+        self.assertEqual(["BUILD_INCLUDE_PATH"], result)
 
         result = mock_lint(env, pkg,
                            """