diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index 24aa3c3..eca989d 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -15,24 +15,33 @@ include_directories(${Boost_INCLUDE_DIR})
 
 find_package(assimp QUIET)
 if ( NOT assimp_FOUND )
-  find_package(PkgConfig REQUIRED)
-  pkg_check_modules(ASSIMP assimp)
+  find_package(Assimp QUIET)
+  if ( Assimp_FOUND )
+    set(assimp_FOUND ${Assimp_FOUND})
+    set(assimp_LIBRARIES ${Assimp_LIBRARIES})
+    set(assimp_LIBRARY_DIRS ${Assimp_LIBRARY_DIRS})
+    set(assimp_INCLUDE_DIRS ${Assimp_INCLUDE_DIRS})
+    set(assimp_VERSION ${Assimp_VERSION})
+  else()
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(assimp assimp)
+  endif()
 endif()
-if( ASSIMP_FOUND )
-  if( ${ASSIMP_VERSION} STRGREATER "2.0.0" )
+if( assimp_FOUND )
+  if( ${assimp_VERSION} STRGREATER "2.0.0" )
     set(IS_ASSIMP3 1)
     add_definitions(-DIS_ASSIMP3)
   endif()
-  include_directories(${ASSIMP_INCLUDE_DIRS})
-  link_directories(${ASSIMP_LIBRARY_DIRS})
+  include_directories(${assimp_INCLUDE_DIRS})
+  link_directories(${assimp_LIBRARY_DIRS})
 else()
   message(STATUS "could not find assimp (perhaps available thorugh ROS package?), so assuming assimp v2")
-  set(ASSIMP_LIBRARIES assimp)
-  set(ASSIMP_LIBRARY_DIRS)
-  set(ASSIMP_CXX_FLAGS)
-  set(ASSIMP_CFLAGS_OTHER)
-  set(ASSIMP_LINK_FLAGS)
-  set(ASSIMP_INCLUDE_DIRS)
+  set(assimp_LIBRARIES assimp)
+  set(assimp_LIBRARY_DIRS)
+  set(assimp_CXX_FLAGS)
+  set(assimp_CFLAGS_OTHER)
+  set(assimp_LINK_FLAGS)
+  set(assimp_INCLUDE_DIRS)
   set(IS_ASSIMP3 0) # most likely not
 endif()
 
@@ -44,17 +53,14 @@ if( COLLADA_DOM_FOUND )
   link_directories(${COLLADA_DOM_LIBRARY_DIRS})
 endif()
 
-
-
 include_directories(${catkin_INCLUDE_DIRS})
 link_directories(${catkin_LIBRARY_DIRS})
 
-
 add_library(${PROJECT_NAME} src/collada_urdf.cpp)
-target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${ASSIMP_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}  
+target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${assimp_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_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 "${ASSIMP_LINK_FLAGS}") 
+set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${assimp_CXX_FLAGS} ${assimp_CFLAGS_OTHER}")
+set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${assimp_LINK_FLAGS}") 
 
 add_executable(urdf_to_collada src/urdf_to_collada.cpp)
 target_link_libraries(urdf_to_collada ${PROJECT_NAME})