diff --git a/CMakeLists.txt b/CMakeLists.txt
index f0d115d..9acbfbe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -58,17 +58,18 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}"
 
 enable_testing()
 
-add_subdirectory(urdf_parser)
-
 if(WIN32 AND NOT CYGWIN)
   set(CMAKE_CONFIG_INSTALL_DIR CMake)
 else()
     set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/${PROJECT_NAME}/cmake/)
 endif()
 
+add_subdirectory(urdf_parser)
+
 set(PKG_NAME ${PROJECT_NAME})
 set(PKG_LIBRARIES urdfdom_sensor urdfdom_model_state urdfdom_model urdfdom_world)
 set(PKG_DEPENDS urdfdom_headers console_bridge)
+set(PKG_EXPORTS urdfdom)
 set(cmake_conf_file "cmake/urdfdom-config.cmake")
 configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${cmake_conf_file}.in" "${CMAKE_BINARY_DIR}/${cmake_conf_file}" @ONLY)
 install(FILES ${CMAKE_BINARY_DIR}/${cmake_conf_file}
diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
index fb81b47..8b4ef8f 100644
--- a/cmake/urdfdom-config.cmake.in
+++ b/cmake/urdfdom-config.cmake.in
@@ -3,8 +3,12 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
 endif()
 set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
 
-set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include" "@TinyXML_INCLUDE_DIRS@")
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
 
+set(@PKG_NAME@_INCLUDE_DIRS "${_IMPORT_PREFIX}/include" "@TinyXML_INCLUDE_DIRS@")
+
+if (0)
 foreach(lib @PKG_LIBRARIES@)
   set(onelib "${lib}-NOTFOUND")
   find_library(onelib ${lib}
@@ -25,3 +29,13 @@ foreach(dep @PKG_DEPENDS@)
   list(APPEND @PKG_NAME@_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
   list(APPEND @PKG_NAME@_LIBRARIES ${${dep}_LIBRARIES})
 endforeach()
+endif()
+
+include(CMakeFindDependencyMacro)
+find_dependency(console_bridge)
+
+foreach(exp @PKG_EXPORTS@)
+  include(${@PROJECT_NAME@_DIR}/${exp}Export.cmake)
+endforeach()
+
+set(@PKG_NAME@_LIBRARIES urdfdom::urdfdom_model urdfdom::urdfdom_world urdfdom::urdfdom_sensor urdfdom::urdfdom_model_state)
\ No newline at end of file
diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
index 731b57a..ebd0586 100644
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@@ -39,10 +39,32 @@ if(BUILD_TESTING)
   add_subdirectory(test)
 endif()
 
-INSTALL(TARGETS urdfdom_model DESTINATION ${CMAKE_INSTALL_LIBDIR})
-INSTALL(TARGETS urdfdom_world DESTINATION ${CMAKE_INSTALL_LIBDIR})
-INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test
-  DESTINATION ${CMAKE_INSTALL_BINDIR})
-INSTALL(TARGETS urdfdom_sensor DESTINATION ${CMAKE_INSTALL_LIBDIR})
-INSTALL(TARGETS urdfdom_model_state DESTINATION ${CMAKE_INSTALL_LIBDIR})
+INSTALL(
+  TARGETS
+  check_urdf
+  urdf_to_graphiz
+  urdf_mem_test
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+)
+INSTALL(
+  TARGETS
+  urdfdom_model
+  urdfdom_world
+  urdfdom_sensor
+  urdfdom_model_state
+  EXPORT
+  urdfdom
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+)
+install(
+  EXPORT urdfdom
+  DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
+  NAMESPACE "${PROJECT_NAME}::"
+  FILE "urdfdomExport.cmake"
+)
+
 INSTALL(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})