diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6bbab20..f175ce7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,3 @@ add_subdirectory(collada_parser)
 add_subdirectory(urdf)
 add_subdirectory(collada_urdf)
 add_subdirectory(kdl_parser)
-
-#add_subdirectory(convex_decomposition)
-#add_subdirectory(ivcon)
-#add_subdirectory(simmechanics_to_urdf)
diff --git a/collada_parser/CMakeLists.txt b/collada_parser/CMakeLists.txt
index d2bc13c..d6f5330 100644
--- a/collada_parser/CMakeLists.txt
+++ b/collada_parser/CMakeLists.txt
@@ -2,7 +2,8 @@ project(collada_parser)
 
 catkin_project(${PROJECT_NAME} 
   LIBRARIES ${PROJECT_NAME}
-  INCLUDE_DIRS include)
+  INCLUDE_DIRS include
+  DEPENDS Boost urdfdom_headers)
 
 include_directories(include)
 
@@ -38,6 +39,12 @@ else()
   set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${COLLADA_DOM_LDFLAGS_OTHER}") 
 endif()
 
+install(TARGETS ${PROJECT_NAME} 
+  DESTINATION lib)
+
+install(DIRECTORY include/
+  DESTINATION include)
+
 # for compatibility with old build system
 install(FILES manifest.xml
         DESTINATION share/${PROJECT_NAME})
diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index 2a93f63..9362f2b 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -2,7 +2,8 @@ project(collada_urdf)
 
 catkin_project(${PROJECT_NAME} 
   LIBRARIES ${PROJECT_NAME}
-  INCLUDE_DIRS include)
+  INCLUDE_DIRS include
+  DEPENDS collada_parser)
 
 include_directories(include)
 
@@ -43,20 +44,14 @@ endif()
 find_package(urdf)
 include_directories(${urdf_INCLUDE_DIRS})
 
-find_package(urdfdom)
-include_directories(${urdfdom_INCLUDE_DIRS})
-
-find_package(collada_parser)
-include_directories(${collada_parser_INCLUDE_DIRS})
-
 find_package(resource_retriever)
 include_directories(${resource_retriever_INCLUDE_DIRS})
 
 find_package(geometry_angles_utils)
 include_directories(${geometry_angles_utils_INCLUDE_DIRS})
 
-add_library(collada_urdf src/collada_urdf.cpp)
-target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${ASSIMP_LIBRARIES} ${collada_parser_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${urdf_LIBRARIES} ${urdfdom_LIBRARIES}
+add_library(${PROJECT_NAME} src/collada_urdf.cpp)
+target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${ASSIMP_LIBRARIES} ${collada_parser_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${urdf_LIBRARIES} 
   ${resource_retriever_LIBRARIES} ${geometry_angles_utils_LIBRARIES} ${Boost_LIBRARIES})
 set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
 set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}") 
@@ -67,6 +62,12 @@ target_link_libraries(urdf_to_collada ${PROJECT_NAME})
 add_gtest(test_collada_writer test/test_collada_urdf.cpp)
 target_link_libraries(test_collada_writer ${PROJECT_NAME})
 
+install(TARGETS ${PROJECT_NAME} urdf_to_collada
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(DIRECTORY include/
+  DESTINATION include)
 
 # for compatibility with old build system
 install(FILES manifest.xml
diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index cf1c9bd..639bfcf 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -2,7 +2,8 @@ project(kdl_parser)
 
 catkin_project(${PROJECT_NAME} 
   LIBRARIES ${PROJECT_NAME}
-  INCLUDE_DIRS include)
+  INCLUDE_DIRS include
+  DEPENDS Orocos-KDL urdf)
 
 include_directories(include)
 
@@ -21,11 +22,8 @@ link_directories(${Orocos-KDL_LIBRARY_DIRS})
 find_package(urdf)
 include_directories(${urdf_INCLUDE_DIRS})
 
-find_package(collada_parser)
-include_directories(${collada_parser_INCLUDE_DIRS})
-
 add_library(${PROJECT_NAME} src/kdl_parser.cpp)
-target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${Orocos-KDL_LIBRARIES} ${collada_parser_LIBRARIES} ${urdf_LIBRARIES} ${ROS_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${Orocos-KDL_LIBRARIES} ${urdf_LIBRARIES} ${ROS_LIBRARIES})
 
 add_executable(check_kdl_parser src/check_kdl_parser.cpp )
 target_link_libraries(check_kdl_parser ${PROJECT_NAME})
@@ -35,3 +33,12 @@ target_link_libraries(test_kdl_parser ${PROJECT_NAME})
 
 # How does CATKIN do this?
 #rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_kdl_parser.launch)
+install(TARGETS ${PROJECT_NAME} 
+  DESTINATION lib)
+
+install(DIRECTORY include/
+  DESTINATION include)
+
+# for compatibility with old build system
+install(FILES manifest.xml
+        DESTINATION share/${PROJECT_NAME})
diff --git a/resource_retriever/CMakeLists.txt b/resource_retriever/CMakeLists.txt
index 6985a71..35907cd 100644
--- a/resource_retriever/CMakeLists.txt
+++ b/resource_retriever/CMakeLists.txt
@@ -22,6 +22,12 @@ target_link_libraries(${PROJECT_NAME} ${CURL_LIBRARIES} ${ROS_LIBRARIES})
 
 add_subdirectory(test EXCLUDE_FROM_ALL)
 
+install(TARGETS ${PROJECT_NAME} 
+  DESTINATION lib)
+
+install(DIRECTORY include/
+  DESTINATION include)
+
 # for compatibility with old build system
 install(FILES manifest.xml
         DESTINATION share/${PROJECT_NAME})
diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
index 1a854f0..500dc3c 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@@ -2,10 +2,14 @@ project(urdf)
 
 catkin_project(${PROJECT_NAME} 
   LIBRARIES ${PROJECT_NAME}
-  INCLUDE_DIRS include)
+  INCLUDE_DIRS include
+  DEPENDS urdfdom urdfdom_headers collada_parser)
 
 include_directories(include)
 
+find_package(urdfdom_headers REQUIRED)
+include_directories(${urdfdom_headers_INCLUDE_DIRS})
+
 find_package(urdfdom REQUIRED)
 include_directories(${urdfdom_INCLUDE_DIRS})
 link_directories(${urdfdom_LIBRARY_DIRS})
@@ -40,6 +44,13 @@ target_link_libraries(test_parser ${PROJECT_NAME})
 # no idea how CATKIN does this
 # rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_robot_model_parser.launch)
 
+install(TARGETS ${PROJECT_NAME} check_urdf urdf_to_graphiz
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(DIRECTORY include/
+  DESTINATION include)
+
 # for compatibility with old build system
 install(FILES manifest.xml
         DESTINATION share/${PROJECT_NAME})