diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
index 2735a07..6721de4 100644
--- a/cmake/SearchForStuff.cmake
+++ b/cmake/SearchForStuff.cmake
@@ -62,16 +62,16 @@ if (NOT PKG_CONFIG_FOUND)
   if (NOT DEFINED USE_INTERNAL_URDF)
     BUILD_WARNING("Couldn't find pkg-config for urdfdom, using internal copy")
     set(USE_INTERNAL_URDF true)
-  elseif(NOT USE_INTERNAL_URDF)
+  elseif(0)
     BUILD_ERROR("Couldn't find pkg-config for urdfdom")
   endif()
 endif()
 
 if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
   # check for urdfdom with pkg-config
-  pkg_check_modules(URDF urdfdom>=1.0)
+  find_package(urdfdom CONFIG REQUIRED)
 
-  if (NOT URDF_FOUND)
+  if (NOT urdfdom_FOUND)
     if (NOT DEFINED USE_INTERNAL_URDF)
       message(STATUS "Couldn't find urdfdom >= 1.0, using internal copy")
       set(USE_INTERNAL_URDF true)
@@ -80,8 +80,7 @@ if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
     endif()
   else()
     # what am I doing here? pkg-config and cmake
-    set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR})
-    set(URDF_LIBRARY_DIRS ${URDF_LIBDIR})
+    set(URDF_LIBRARIES urdfdom::urdfdom_model urdfdom::urdfdom_world urdfdom::urdfdom_sensor urdfdom::urdfdom_model_state)
   endif()
 endif()